Abstract This paper aims to focus on the concept of experience and reconstruct its evolutions within Royce’s thought. To do so, I divide this paper in three parts. I begin by analysing Royce’s concept of experience, which takes roots in his interpretation of the British empiricists, such as Locke, Berkeley and Hume, in The Spirit of Modern Philosophy (1892). In the second part I outline Royce’s theory of experience from a philosophical and psychological point of view. My claim is that, in his philosophical writings, Royce argues that cognitions are not abstract ideas but plans of actions: meanings and concepts are embodied, situated and time-oriented. I refer also to Royce’s contribution to the psychological field, with regard to embodied aspects of cognitions. According to Royce, cognitions are enriched with elements related to sensorimotor, imaginative and perceptual faculties. Action and perception are no separated aspects of cognitions, because perception implies sensorimotor dynamics. At the same time, the perception of the object is entangled with the imagination of the would be, i.e., the result of doing different actions with the object.