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We investigated the purported association between developmental changes in the efficiency of online reaching corrections and improved action representation. Younger children (6–7 years), older children (8–12 years), adolescents (13–17 years), and young adults (18–24 years) completed a double-step reaching paradigm and a motor imagery task. Results showed similar nonlinear performance improvements across both tasks, typified by substantial changes in efficiency after 6 or 7 years followed by incremental improvements. Regression showed that imagery ability significantly predicted reaching efficiency and that this association stayed constant across age. Findings provide the first empirical evidence that more efficient online control through development is predicted, partly, by improved action representation.