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Trial-and-error motor adaptation has been linked to somatosensory plasticity and shifts in proprioception (limb position sense). The role of sensory processing in motor skill learning is less understood. Unlike adaptation, skill learning involves the acquisition of new movement patterns in the absence of perturbation, with performance limited by the speed-accuracy tradeoff. We investigated somatosensory changes during motor skill learning at the behavioral and neurophysiological level. Twenty-eight healthy young adults practiced a maze-tracing task, guiding a robotic manipulandum through an irregular 2D track featuring several abrupt turns. Practice occurred on days 1 and 2. Skill was assessed before practice on day 1 and again on day 3, with learning indicated by a shift in the speed-accuracy function between these assessments. Proprioceptive function was quantified with a passive two-alternative forced choice task. In a subset of 15 participants, we measured short latency afferent inhibition (SAI) to index somatosensory projections to motor cortex. We found that motor practice enhanced the speed-accuracy skill function (F 4,108 = 32.15, p < 0.001) and was associated with improved proprioceptive sensitivity at retention (t 22 = 24.75, p = 0.0031). Further, SAI increased after training (F 1,14 = 5.41, p = 0.036). Interestingly, individuals with larger increases in SAI, reflecting enhanced somatosensory afference to motor cortex, demonstrated larger improvements in motor skill learning. These findings suggest that SAI may be an important functional mechanism for some aspect of motor skill learning. Further research is needed to test what parameters (task complexity, practice time, etc) are specifically linked to somatosensory function.