The speech that infants perceive and learn from is highly multisensory. Preverbal infants show multisensory speech sensitivities prior to direct associative experience, for instance, even to non-native speech that they have not experienced before. Sensorimotor influences on auditory perception are of increasing interest in the context of speech perception development. In a series of experiments, we explored whether infants’ speech perception is influenced by articulatory-auditory relations. Specifically, we experimentally restricted the movement of infants’ relevant articulators during speech perception tasks. We review a series of studies showing both behavioral (eye-tracking) and neural (EEG) evidence that preverbal infants’ auditory speech perception is influenced by articulatorily specific sensorimotor input at 6- and 3- months of age. To control for the possibility of learning, we tested both native and non-native (hence not visually nor auditorily familiar) phonetic contrasts. To explore whether the auditory-sensorimotor relation is in place even without feedback from self-produced vocalization, we tested consonant discrimination in infants as young as 3-month, who are not yet babbling and are unable to produce consonant sounds. Our results show that the sensorimotor-auditory link is in place prior to specific experience watching, hearing, or producing the relevant sounds.