Reach-to-grasp behavior is a key developmental milestone in infants, involving coordinated actions such as arm transport, hand pre-shaping, and hand opening and closing. Vision guides the development of these skills, and delays in visual input can impact infants with early visual impairments. However, the effects of a congenital visual impairment on reach-to-grasp behavior in early life remain largely unexplored. To address this gap, we compared the reach-to-grasp abilities of sighted (S) and visually impaired (VI) infants and children, focusing on temporal (Movement and Pick-up times) and motor parameters (body midline crossing with one or two hands and hand preference). We hypothesized that VI children would face greater challenges in planning and executing a rapid and accurate reach-to-grasp movement, particularly during the pick-up phase. To investigate this, we asked sighted and VI infants and children to grasp black spheres of different sizes, placed centrally, on the right, or the left of a table in a dimly lit room. Three key findings emerged from our analysis. First, VI children required more time to pick up the spheres compared to their sighted peers. Second, VI children showed a reduced frequency of one-handed body midline crossing when reaching for lateral spheres, but showed an age-related increase, especially when using both hands. Third, VI children showed no hand preference, unlike S children who favored their right hand for crossing the body midline. These results highlight the role of visual experience in developing effective goal-directed movements and support creating early evidence-based rehabilitation procedures. A video abstract of this article can be viewed at https://youtu.be/bjwkMQmdFoE.