Perception and action interact in nearly every moment of daily life. Previous studies have demonstrated not only that perceptual input shapes action but also that various factors associated with action-including individual abilities and biomechanical costs-influence perceptual decisions. However, it is unknown how action fluency affects the sensitivity of early-stage visual perception, such as orientation. To address this question, we used a dual-task paradigm: Participants prepared an action (e.g., grasping), while concurrently performing an orientation-change-detection task. We demonstrated that as actions became more fluent (e.g., as grasping errors decreased), perceptual-discrimination performance also improved. Importantly, we found that grasping training prior to discrimination enhanced subsequent perceptual sensitivity, supporting the notion of a reciprocal relation between perception and action.