This chapter extends Robert Audi's theory of moral perception and answers some objections from the literature. It distinguishes the perceptible from the perceptual; develops a structural analogy between perception and action; explains how moral perception can be causal; clarifies respects in which moral perception is representational; and indicates how it can ground moral knowledge. The presentational character of moral perception is described, particularly the phenomenological integration between moral sensibility and non-moral perception of the natural properties that ground moral properties. The question whether moral perception is inferential is approached by clarifying the notion of inference and pursuing an analogy between moral perception and perception of emotion. Aesthetic perception is also considered as instructively analogous to moral perception. The final sections explore cognitive penetration in relation to moral perception, conceptual and developmental aspects of moral perception, and the latitude Audi’s account of it allows in the epistemology and ontology of ethics.