A voice capturing method includes following operations: storing, by a buffer, voice data from a plurality of microphones; determining, by a processor, whether a target speaker exists and whether a direction of the target speaker changes according to the voice data and target speaker information; inserting a voice segment corresponding to a previous tracking direction into a current position in the voice data to generate fusion voice data when the target speaker exists and the direction of the target speaker changes from the previous tracking direction to a current tracking direction; performing, by the processor, a voice enhancement process on the fusion voice data according to the current tracking direction to generate enhanced voice data; performing, by the processor, a voice shortening process on the enhanced voice data to generate voice output data; and playing, by a playing circuit, the voice output data.