A voice dialogue method performed by a voice dialog system includes: a voice signal generation unit; a voice dialog agent unit; a voice output unit; and a voice input control unit, the method including: a step of, by the voice signal generation unit, receiving a voice input and generating a voice signal based on the received voice input; a step of, by the voice dialog agent unit, performing voice recognition processing on the voice signal and performing processing based on a result of the voice recognition processing to generate a response signal; a step of, by the voice output unit, outputting a voice based on the response signal; and a step of, when the voice output unit outputs the voice, by the voice input control unit, keeping the voice signal generation unit, for predetermined period after output of the voice, a receivable state in which a voice input is receivable.