Prosody not only signals the speaker’s cognitive states but can also imitate various concepts. However, previous studies on the latter, the iconic function of prosody, have mostly analyzed novel words and nonlinguistic vocalizations. To fill this gap in the literature, the current study has examined the iconic potential of the prosodic features of existing Japanese imitative words known as ideophones. In Experiment 1, female Japanese speakers pronounced 20 sentences containing ideophones in infant-directed speech. They used a higher f0 to express faster and more pleasant movements. Similar iconic associations were observed in Experiment 2, in which Japanese speakers chose the best-matching pitch–intensity–duration combination for each of the ideophones. In Experiment 3, Japanese speakers chose the best-matching voice quality – creaky voice, falsetto, harsh voice or whisper – for the ideophones. Falsetto was preferred for a light object’s fast motion, harsh voice for violent motion and whisper for quiet motion. Based on these results, we entertain the possibility that the iconic prosody of ideophones provides a missing link in the evolutionary theory of language that began with iconic vocalizations. Ideophones with varying degrees of iconic prosody can be considered to be located between nonlinguistic vocalizations and arbitrary words in this evolutionary path.