Auditory feedback to a keypress is used in many devices to facilitate the motor output. The timing of auditory feedback is known to have an impact on the motor output, yet it is not known if a keypress action can be modulated on-line by an auditory feedback or how quick an auditory feedback can influence an ongoing keypress. Furthermore, it is not clear if the prediction of auditory feedback already changes the early phase of a keypress action independent of sensory feedback, which would suggest that such prediction changes the motor plan. In the current study, participants pressed a touch-sensitive device with auditory feedback in a self-paced manner. The auditory feedback was given either after a short (60 msec) or long (160 msec) delay, and the delay was either predictable or not. Our results showed that the keypress peak force was modulated by the amount of auditory feedback delay even when the delay was unpredictable, thus demonstrating an on-line modulation effect. The latency of the on-line modulation was suggested to be as low as 70 msec, indicating a very fast sensory to motor mapping circuit in the brain. When the auditory feedback delay was predictable, a change in the very early phase of keypress motor output was found, suggesting that the prediction of sensory feedback is crucial to motor control. Therefore, even a simple keypress action contains rich motor dynamics, which depend on expected as well as on-line perceived sensory feedback.