Humans are believed to have volition through which they act upon and change the external environment. As an exercise of volition, making a voluntary choice facilitates the subsequent behavioral performance relative to a forced choice. However, it is unclear how this facilitation is constrained by the perceived relationship between a choice and its outcome. In a series of experiments, participants were free or forced to choose one of two presented pictures. The outcome of the choice was then revealed, which could be always the chosen picture or always the unchosen picture (i.e., a confirmed choice-outcome causation), a blank screen with no picture at all (i.e., an unrevealed choice-outcome relation), the chosen or unchosen picture with equal probability (i.e., a defeated choice-outcome causation), or a third picture different from the two preceding options (again, a defeated choice-outcome causation). Participants then complete a visual search task with the task-irrelevant picture (or the blank screen) serving as a background. Results showed that the search performance was improved after a voluntary choice under both the confirmed causation and the unrevealed relation, but not under the defeated causation. Over individuals, the improved performance due to voluntary choice under confirmed causation positively correlated with the improved performance under the unrevealed relation, and with the reported belief in controlling the outcome of the choice. Our findings suggest that the exercise of volition motivates subsequent behavior, and this motivation is restricted to an “undefeated” choice-outcome causation which affords a belief in controlling the outcome by exerting volition.