Speech communicates non-linguistic and para-linguistic information as well as linguistic information. Our previous studies on noise-vocoded speech (NVS) showed that temporal modulation cues provided by the temporal amplitude envelope (TAE) affect how vocal emotion and speaker individuality are perceived. However, it is still unclear if temporal modulation cues affect the perception of urgency. Here, we experimentally investigated whether the TAE of speech affects the perception of para-linguistic information, particularly urgency. We compared NVS in which the TAEs were identical to those of the original speech and NVS in which the TAEs had undergone low-pass or high-pass filtering. Urgency scales were derived from a paired comparison of the results and used to investigate the relationship between the temporal modulation components and urgency perception. Our findings were (1) the degree of urgency of the NVS stimuli was perceived as being similar to that of the original; (2) temporal modulation components of NVS upwards of 6 Hz were significant cues for urgency perception; and (3) temporal modulation components of NVS downwards of 8 Hz were significant cues for urgency perception. The results suggest that temporal modulation cues in the TAE play an important role in urgency perception.