For a reaching task, one of the initial steps is to derive a perceptual estimate of the object's distance and location relative to the body. Arguably, this estimate forms the initial cognitive basis of action processing. Here, with the intent of improving our understanding of action processing from a developmental perspective, we examined the ability of children and adults to estimate reachability for objects placed in peripersonal (within reach) and extrapersonal (out of grasp) space; a task that requires effective use of visual information and subsequent body-scaling. Children ages 5- to 11 years representing three age groups and adults were tested for estimates of reach via motor imagery to targets presented randomly at seven midline locations. Target distances were scaled to the individual based on absolute maximum reach. Estimates were compared to the participants' actual maximum reach. Frequency data analysis and chi-square procedures were used to compare categorical (yes / no; reachable or not) responses within and between groups in regard to total error and the distribution of error. In addition, a 4 (age) x 7 (targets) repeated measures ANOVA procedure was employed to determine the general direction of error (mean bias) in cm. While there was no difference between age groups for total error, a significant distinction emerged in reference to space. With children, significantly more error was exhibited in extrapersonal space; among adults, space responses were similar. The groups did not differ in peripersonal space; however, adults were substantially more accurate with extrapersonal targets. Furthermore, children displayed a greater tendency to overestimate. In summary, it appears that estimates of reachability in peripersonal space are adult-like as early as 5 years of age. However, these data also lead to the suggestion that the ability to map visual information from extrapersonal space for estimates of reach, emerges sometime between late childhood (> 11 years) and early adulthood. Our discussion focuses on possible developmental differences in use of visual information and confidence level.