The relationship between the achievement of early motor milestones in infancy and later motor development was studied in 130 children with (N = 66, 35 male/31 female) and without (N = 64, 31 male/35 female) familial risk for dyslexia. A structured parental questionnaire was used to assess motor development in infancy, and the Movement Assessment Battery for Children was used to assess motor skills at age 3.5 years. No differences were found at the group level and therefore the structural equation model was constructed by entering both groups simultaneously. An Early Body Control factor, computed from the infant data, explained 38% of the variance of the Gross Motor Skills factor at the age of 3.5 years. The results suggest a relationship between gross motor milestones in infancy and gross motor skills in toddler age. Unexpectedly, the early appearance of Early Hand Control skills in infancy had a negative association with the development of the gross motor domain at 3.5 years (explanation ratio was 9%). No significant connections between early and later fine motor skills were found. The mediating role played by postural control is discussed.