The ability to control movement and to refine and learn new motor skills is one of the fundamental functions of the brain. The basal ganglia (BG) and the cerebellum (CB) are two key brain regions involved in controlling movement, and neuronal plasticity within these two regions underlies the acquisition of new motor skills. However, how these two critical motor regions interact and orchestrate together to produce a cohesive motor output remains poorly understood. Here, we used an intersectional viral tracing approach to identify neurons in the motor thalamus that receive inputs from BG and CB and found that a subset of neurons in VM and VAL receive converging BG and CB inputs. Using slice electrophysiology in combination with optogenetic activation of BG and CB projections we show that these thalamic neurons receive functional inhibitory inputs from the BG and excitatory inputs from the CB. Moreover, using chemo-and optogenetic silencing, we demonstrate the role of these thalamic neurons and their inputs in motor learning and motor control. Lastly, using in vivo fiber photometry and two-photon calcium imaging through an implanted GRIN lens in the motor thalamus, we measured neuronal activity in mice learning a lever-push task and found that VM neurons show distinct movement related activity patterns. These results indicate that neurons in the motor thalamus receive converging input from BG and CB and may play an important role in integrating movement signals during motor learning.