Context: The enactivist tradition, out of which neurophenomenology arose, rejects various internalisms – including the representationalist and information-processing metaphors – but remains wedded to one further internalism: the claim that the structure of perceptual experience is directly, constitutively linked only to internal, brain-based dynamics. Problem: I aim to reject this internalism and defend an alternative analysis. Method: The paper presents a direct-realist, externalist, sensorimotor account of perceptual experience. It uses the concept of counterfactual meaningful action to defend this view against various objections. Results: This account of experience matches certain first-person features of experience better than an internalist account could. It is fully tractable as “normal science.” Implications: The neuroscientific conception of brain function should change from that of internal representation or modelling to that of enabling meaningful, embodied action in ways that constitutively involve the world. Neurophenomenology should aim to match the structure of first-person experience with the structure of meaningful agent-world interactions, not with that of brain dynamics. Constructivist content: The sensorimotor approach shows us what external objects are, such that we may enact them, and what experience is, such that it may present us with those enacted objects.