Humans can learn and produce skilled movement sequences from memory, yet the nature of sequence planning is not well understood. Previous computational and neurophysiological work suggests that movements in a sequence are planned as parallel graded activations and selected for output through competition. However, the relevance of this planning patterns to sequence production fluency and accuracy, as opposed to the temporal structure of sequences, is unclear. To resolve this question, we assessed the relative availability of constituent movements behaviourally during the preparation of motor sequences from memory. In three separate multi-session experiments, healthy participants were trained to retrieve and produce 4-element finger press sequences with particular timing according to an abstract sequence cue. We evaluated reaction time (RT) and error rate as markers of movement availability to constituent movement probes. Our results demonstrate that longer preparation time produces more pronounced differences in availability between adjacent sequence elements, whilst no effect was found for sequence speed or temporal grouping. Further, participants with larger position-dependent differences in movement availability tended to initiate correct sequences faster and with a higher temporal accuracy. Our results suggest that competitive pre-activation is established gradually during sequence planning and predicts sequence skill, rather than the temporal structure of the motor sequence.