The relationship between visually and haptically derived representations of objects is an important question in multisensory processing and, increasingly, in mental representation. We review evidence for the format and properties of these representations, and address possible theoretical models. We explore the relevance of visual imagery processes and highlight areas for further research, including the neglected question of asymmetric performance in the visuo-haptic cross-modal memory paradigm. We conclude that the weight of evidence suggests the existence of a multisensory representation, spatial in format, and flexibly accessible by both bottom-up and top-down inputs, although efficient comparison between modality-specific representations cannot entirely be ruled out.