It is well known that the kinematics of an action is modulated by the underlying motor intention. In turn, kinematics serves as a cue also during action observation, providing hints about the intention of the observed action. However, an open question is whether decoding others' intentions on the basis of their kinematics depends solely on how much the kinematics varies across different actions, or rather it is also influenced by its similarity with the observer motor repertoire. The execution of reach-to-grasp and place actions, differing for target size and context, was recorded in terms of upper-limb kinematics in 21 volunteers and in an actor. Volunteers had later to observe the sole reach-to-grasp phase of the actor's actions, and predict the underlying intention. The potential benefit of the kinematic actor-participant similarity for recognition accuracy was evaluated. In execution, both target size and context modulated specific kinematic parameters. More importantly, although participants performed above chance in intention recognition, the similarity of motor patterns positively correlated with recognition accuracy. Overall, these data indicate that kinematic similarity exerts a facilitative role in intention recognition, providing further support to the view of action intention recognition as a visuo-motor process grounded in motor resonance.