A grilled-type shrimp flavor was developed through the Maillard reaction to reduce or mask fish odor or off-flavor in seafood. Model systems were created by using enzymatic hydrolysate of shrimp and adding precursors to increase flavor quality and stability. Amino acid precursors such as cysteine and methionine, sugar precursors such as glucose, xylose, ribose, and sucrose, and one particular compound of glucosamine were tried and their flavor qualities were tested by sensory evaluation. Also, the optimum reaction condition was investigated using the pH values of pH 5, 6, 7, and 8 with reaction times of 1 hr, 2 hr and 3 hr after the best precursors were determined. The best condition of the precursors for grilled-type shrimp flavor was the mixtures of methionine, threonine, xylose, and glucosamine. The optimum reaction condition was at pH 8.0 and 2 hr reaction time.