The present study investigated the nature and specificity of the gestural deficit in children with developmental coordination disorder (DCD). Performance of children with DCD is compared with that of typically developing children across tasks and conditions that allow exploring distinct levels hypothesized by adult models of praxis processing. These models generally involve a conceptual system and a production system. Within this theoretical framework, the study analyzed the extent to which the gestural difficulties of children with DCD are related to a deficit of the production system. Considering the heterogeneity of deficits consistently reported in DCD, we also examined whether gestural difficulties of children with DCD could imply impairments on other cognitive functions (executive functions, visual-perceptual, and visuospatial functions). Thirty children with DCD were compared to 30 typically developing children. The DCD group exhibited a deficit in most of the gesture production tasks (with the exception of representational intransitive ones), with impaired visuospatial skills. When controlling for a measure of visuospatial skill, differences between groups remained significant only for representational transitive gestures. This dysfunction could neither be related to a semantic deficit, nor to an impairment of sensorimotor knowledge. Therefore, if the contribution of a visuospatial dysfunction allows discussing the specificity of gestural deficit, this does not appear to explain the overall gestural deficit. We suggest an explanation of the finding within the assumption of a production-system deficit.