Embodiments of the present invention relate to the technical field of communications. Provided are a calling method, device and system for voice over Internet protocol, which can solve the problem of poor calling experience of a user caused when a video-containing call is performed by using default voice over Internet protocol in the prior art. A specific scheme comprises: a management device acquires video capability information of a terminal and a priority of a terminal type corresponding to a call type; the management device receives a call request sent by a calling end, wherein the call request comprises a call type, and the call type comprises a video call or a data conference; the management device determines a called end according to the call type, the priority of the terminal type corresponding to the call type and the video capability information of the terminal corresponding to the terminal type; and the management device sends the call request to the called end. Embodiments of the present invention are used for performing a video-containing call.