Disclosed is a full-duplex voice dialogue method applied to a voice dialogue terminal and including recording and uploading by an awakened voice dialogue terminal audio to a cloud server for determining a reply content and a first duration of the audio analyzed for determining the reply content; receiving by the voice dialogue terminal the reply content and the first duration sent by the cloud server; determining whether the first duration is equal to a duration from the moment awakening the voice dialogue terminal to the current moment of uploading the audio; and presenting the reply content to a user if consistent. Both the reply content determined by the cloud server and the duration of the audio is acquired, and the reply content is presented to the user only when the first duration and the second duration are determined as consistent, thereby ensuring proper reply content.