Incoming sensory input provides information for the planning and execution of actions, which yield motor outcomes that are themselves sensory inputs. One dimension where action and perception strongly interact is numerosity perception. Many non-human animals can estimate approximately the number of external elements as well as their own actions, and neurons have been identified that respond to both. Recent psychophysical adaptation studies on humans also provide evidence for neural mechanisms responding to both the number of externally generated events and self-produced actions. Here we advance the idea that these strong connections may arise from dedicated sensorimotor mechanisms in the brain, part of a more generalized system interfacing action with the processing of other quantitative magnitudes such as space and time. A Sensorimotor Numerosity System Early physiological studies suggested that the cerebral cortex is organized in many areas, each functionally specialized to analyze different features of the perceptual environment [1,2]. Recent work, however, is beginning to show very strong interactions between different perceptual features, pointing to shared associative mechanisms. Perhaps the most prominent proposal is the A Theory Of Magnitude (ATOM) model [3], positing that the human parietal cortex processes jointly quantitative information about space, time, and number to optimize action planning and execution [3,4]. This theory has spawned multiple studies investigating how the perception of space, time, and number relies on shared mechanisms, with less attention dedicated to how perceptual information combines with action programming and execution. Here we propose that, for the perception of number, or numerosity (see Glossary), there exists a common neural system subserving both action and perception: a sensorimotor numerosity system, tuned to numerosity signals from both perception and action planning and execution. This proposal is supported by a range of studies suggesting that mechanisms processing the numerosity of externally generated events (regardless of sensory modality or presentation format) may also process internally generated events, such as goal-directed motor routines. We also review evidence suggesting that a sensorimotor system of this type may process quantitative information of non-numerical dimensions such as space and time. Numerosity Estimation The number of items is represented in humans by two distinct processes: a cultural and language-dependent system that encodes precisely the cardinality of elements; and a more primitive system shared with a variety of non-human species termed the approximate number system (ANS), which encodes quantity (or numerosity) in an approximate, non-symbolic manner [5,6]. Numerosity perception differs from both symbolic number representation (digits) and serial counting, in that it is rapid, parallel, and approximate. Numerosity estimation errors scale proportionally to physical numerosity, following Weber's law, at least over a limited range [7,8]...