According to embodied cognition theory, cognitive processes are grounded in sensory, motor and emotional systems. This theory supports the idea that language comprehension and access to memory are based on sensorimotor mental simulations, which does indeed explain experimental results for visual imagery. These results show that word memorization is improved when the individual actively simulates the visual characteristics of the object to be learned. Very few studies, however, have investigated the effectiveness of more embodied mental simulations, that is, simulating both the sensory and motor aspects of the object (i.e., motor imagery) from a first-person perspective. The recall performances of 83 adults were analysed in four different conditions: mental rehearsal, visual imagery, third-person motor imagery, and first-person motor imagery. Results revealed a memory efficiency gradient running from low-embodiment strategies (i.e., involving poor perceptual and/or motor simulation) to high-embodiment strategies (i.e., rich simulation in the sensory and motor systems involved in interactions with the object). However, the benefit of engaging in motor imagery, as opposed to purely visual imagery, was only observed when participants adopted the first-person perspective. Surprisingly, visual and motor imagery vividness seemed to play a negligible role in this effect of the sensorimotor grounding of mental imagery on memory efficiency.