In a voice output apparatus, an acquisition unit acquires a speech of an occupant of a vehicle. A determination unit determines whether or not the acquired speech is asking for repetition or rephrasing. A classification unit classifies, when it is determined that the speech is the asking, the speech according to a type of asking. An output unit outputs a voice sound in accordance with the classified type of the asking based on a content of a voice sound that is a target of the asking.