The complicated growth of a child is mostly dependent on their motor and sensory skills. The goal of pediatric occupational therapy is to support these skills and acknowledge their importance in reaching developmental milestones. All of these skills—from manipulating objects to making facial expressions and following perception—help children develop in their physical, mental, and social domains. This extensive paper delves into the various aspects of motor and sensory skills, highlighting their significance in pediatric occupational therapy and in relation to developmental milestones more broadly.