In this essay the vocabulary of sense perception in Estonian, its typology, history, and cognition were investigated. This paper consists of four parts – introductory, experimental, morphological, and diachronical. To sum up, cognitively basic sense perception vocabulary (colour, temperature, taste, and smell terms) is established as a whole in one language – Estonian. The history of the sense perception vocabulary is also investigated. For colour terms the typological development of the colour categories and terms from Proto-Uralic to modern Estonian is reconstructed. The morphological typology of sense perception terms is also looked at and the Estonian sense perception vocabulary is compared with the corresponding vocabularies of the neighbouring Finnic, Baltic, Slavic, and Germanic languages.