This study aimed to investigate the effects of early-stage Alzheimer’s disease (AD) on the reach-to-grasp kinematics and kinetics with different visual feedbacks. Seventeen patients who had been diagnosed with the early-stage AD and the same number of age- and gender-matched cognitive normal (CN) adults participated in the experiment. Each subject was instructed to perform the reach-to-grasp task, and the kinematic and kinetic parameters were collected and calculated to quantify the characteristics for both the AD and CN groups. Results showed that the early-stage AD remarkably decrease the reaching speed, reduce the grasping accuracy and increase the transportation variability. In addition, the early-stage AD extended the preload duration, disturbed the grip and lift forces (GF-LF) coordination, and increased the feedforward proportion in the grasping force control. The AD-related changes in the reach-to-grasp kinematic and kinetic parameters depended on visual feedback conditions and were associated with nervous system function according to correlation analyses with the neuropsychological testing. These results imply that quantifying the reach-to-grasp performance may help us better understand the changes in sensorimotor control in the early-stage AD and may provide novel approach to the early screening and evaluation of AD.