A communication system includes a pair of speech recognition devices that are capable of communicating with each other, each of the speech recognition devices including a speech input section into which speech is input, a speech recognition section that recognizes speech input to the speech input section, and a speech output section that outputs speech. The communication system also includes an information generation section that generates notification information corresponding to speech recognized by the speech recognition section in one speech recognition device from out of the pair of speech recognition devices, and a speech output control section that performs control to output notification speech corresponding to the notification information at a specific timing from the speech output section of the other speech recognition device from out of the pair of speech recognition devices.