Although the integration of information across multiple senses can enhance object representations in memory, how multisensory information affects the formation of categories is uncertain. In particular, it is unclear to what extent categories formed from multisensory information benefit object recognition over unisensory inputs. Two experiments investigated the categorisation of novel auditory and visual objects, with categories defined by spatial similarity, and tested generalisation to novel exemplars. Participants learned to categorise exemplars based on visual-only (geometric shape), auditory-only (spatially defined soundscape) or audio-visual spatial cues. Categorisation to learned as well as novel exemplars was then tested under the same sensory learning conditions. For all learning modalities, categorisation generalised to novel exemplars. However, there was no evidence of enhanced categorisation performance for learned multisensory exemplars. At best, bimodal performance approximated that of the most accurate unimodal condition, although this was observed only for a subset of exemplars within a category. These findings provide insight into the perceptual processes involved in the formation of categories and have relevance for understanding the sensory nature of object representations underpinning these categories.