It has been suggested that the metrics of grasping movements directed to visible objects are controlled in real time and are therefore unaffected by previous experience. We tested whether the properties of a visually presented distractor object influence the kinematics of a subsequent grasping movement performed under full vision. After viewing an elliptical distractor object in one of two different orientations participants grasped a target object, which was either the same object with the same orientation or a circular object without obvious orientation. When grasping the circular target, grip orientation was influenced by the orientation of the distractor. Moreover, as in classical visuomotor priming, grasping movements were initiated faster when distractor and target were identical. Results provide evidence that planning of visually guided grasping movements is influenced by prior perceptual experience, challenging the notion that metric aspects of grasping are controlled exclusively on the basis of real-time information.