A voice output apparatus, enhancing a robustness of an interface between a user and the apparatus by transmitting, information to the user via text message and voice message. The voice output apparatus including a display unit (107) displaying a text message that is apparatus-transmitting information to be transmitted to the user, a delay unit (105), and a voice output unit (106) estimating a delay time necessary for an action taken by the user to visually identify the text message displayed by the display unit (107), and outputting, via voice message, the apparatus-transmitting information, when the delay time (T) passes after the text message is displayed.