Sensorimotor computation is a closed-loop process where bottom-up information collected about the current state of the world is integrated with top-down, internally generated knowledge, task- and goal-related affordances to create an action plan. In the rodent whisker system, a canonical model of sensorimotor computation in the context of active sensing, emerging evidence suggests that neuromodulatory neurotransmitters help shape sensorimotor control of the whisker position, and contribute to context-dependent changes of whisking frequency and amplitude. Given that neuromodulatory neurotransmitters are primarily released from subcortical nuclei whose long-range projections target the rest of the central nervous system, the circuit mapping of top-down neuromodulatory control of sensorimotor nuclei in the rodent brain will help to address the mechanisms of active sensing systematically. Therefore, taking advantage of the Allen Institute's Mouse Connectivity database, we provide an updated, cell-type specific map of the sensorimotor circuits in the mouse brain. The map includes 180 projections (68 of which were not previously reported in the literature) across 18 principal and neuromodulatory neurotransmitter-releasing nuclei of the whisker system. Performing a graph network analysis of this connectome, we identify cell-type specific hubs, sources, and sinks, provide anatomical evidence for monosynaptic inhibitory projections into all stages of the ascending pathway, and show that neuromodulatory projections improve network-wide connectivity. These results argue that beyond the modulatory chemical contributions to information processing and transfer in the whisker system, the circuit connectivity features of the neuromodulatory networks position them as nodes of sensory and motor integration.