The present study aims to investigate the effect of voluntary movements on human temporal perception in multisensory integration. We therefore performed temporal order judgment (TOJ) tasks in audio-tactile integration under three conditions: no movement, involuntary movement, and voluntary movement. It is known that the point of subjective simultaneity (PSS) under the no movement condition, that is, normal TOJ tasks, appears when a tactile stimulus is presented before an auditory stimulus. Our experiment showed that involuntary and voluntary movements shift the PSS to a value that reduces the interval between the presentations of auditory and tactile stimuli. Here, the shift of the PSS under the voluntary movement condition was greater than that under the involuntary movement condition. Remarkably, the PSS under the voluntary movement condition appears when an auditory stimulus slightly precedes a tactile stimulus. In addition, a just noticeable difference (JND) under the voluntary movement condition was smaller than those under the other two conditions. These results reveal that voluntary movements alternate the temporal integration of audio-tactile stimuli. In particular, our results suggest that voluntary movements reverse the temporal perception order of auditory and tactile stimuli and improve the temporal resolution of temporal perception. We discuss the functional mechanism of shifting the PSS under the no movement condition with voluntary movements in audio-tactile integration.