Action effects do not occur randomly in time but follow our actions at specific delays. The ideomotor principle (IMP) is widely used to explain how the relation between actions and contingently following effects is acquired and numerous studies demonstrate robust action-effect learning. Yet, little is known about the acquisition of temporal delays of action effects. Here, we demonstrate that participants learn that action effects occur at specific delays. Participants responded slower to action effects that occurred earlier than usual. In addition, participants often prematurely responded before the effect when it occurred later than expected. Thus, in contrast to biases of time perception in action contexts (e.g., Haggard, Trends Cogn Sci 9:290-295, 2005; Stetson et al., Neuron 51:651-659, 2006), participants learn and exploit temporal regularities between actions and effects for behavioral control.