Grasping movements are typically performed toward visually sensed objects. However, planning and execution of grasping movements can be supported also by haptic information when we grasp objects held in the other hand. In the present study we investigated this sensorimotor integration process by comparing grasping movements towards objects sensed through visual, haptic or visuo-haptic signals. When movements were based on haptic information only, hand preshaping was initiated earlier, the digits closed on the object more slowly, and the final phase was more cautious compared to movements based on only visual information. Importantly, the simultaneous availability of vision and haptics led to faster movements and to an overall decrease of the grip aperture. Our findings also show that each modality contributes to a different extent in different phases of the movement, with haptics being more crucial in the initial phases and vision being more important for the final on-line control. Thus, vision and haptics can be flexibly combined to optimize the execution of grasping movement.