Increasing evidence indicates that voluntary actions can modulate the subjective time experience of its outcomes to optimize dynamic interaction with the external environment. In the present study, using a temporal reproduction task where participants reproduced the duration of an auditory stimulus to which they were previously exposed by performing different types of voluntary action, we examined how the subjective time experience of action outcomes changed with voluntary action types. Two experiments revealed that the subjective time experience of action outcomes was compressed, compared with physical time, if the action was performed continuously (Experiment 1), possibly enhancing the experience of controlling the action outcome, or if the action was added an extra task-unrelated continuous action (Experiment 2), possibly reflecting different underlying mechanisms from subjective time compression induced by the task-related continuous action. The majority of prior studies have focused on the subjective time experience of action outcomes when actions were performed voluntarily or not, and no previous study has examined the effects of differences in voluntary action types on the subjective time experience of action outcomes. These findings may be useful in situations in which people wish to intentionally compress their own time experience of daily events through their voluntary actions.