Any candidate theory of quantum gravity must address the breakdown of the classical smooth manifold picture of space-time at distances comparable to the Planck length. String theory, in contrast, is formulated on conventional space-time. However, we show that in the low energy limit, the dynamics of generally curved Dirichlet p-branes possess an extended local isometry group, which can be absorbed into the brane geometry as an almost product structure. The induced kinematics encode two invariant scales, namely a minimal length and a maximal speed, without breaking general covariance. Quantum gravity effects on D-branes at low energy are then seen to manifest themselves by the kinematical effects of a maximal acceleration. Experimental and theoretical implications of such new kinematics are easily derived. We comment on consequences for brane world phenomenology.