A voice dialogue system includes a voice input unit which acquires a user utterance, an intention understanding unit which interprets an intention of utterance of a voice acquired by the voice input unit, a dialogue text creator which creates a text of a system utterance, and a voice output unit which outputs the system utterance as voice data. When creating a text of a system utterance, the dialogue text creator creates the text by inserting a tag in a position in the system utterance, and the intention understanding unit interprets an utterance intention of a user in accordance with whether a timing at which the user utterance is made is before or after an output of a system utterance at a position corresponding to the tag from the voice output unit.