Noticing the regularity of the task is necessary to enhance motor performance. The experience of noticing further motivates improvement in motor performance. Motor control is explained by a comparator model that modifies the motor command to reduce discrepancies between sensory predictions and actual outcomes. A similar model could apply to sense of agency (SoA). SoA refers to the sensation of controlling one’s own actions and, through them, the outcomes in the external world. SoA may also be enhanced by the experience of noticing errors. We recently reported gradual enhancement of SoA in participants with high perceptual-motor performance. However, what component of the motor task changed the SoA is unclear. In this study, we aimed to investigate the influence over time of the experience of noticing during a motor task on SoA. Participants performed an implicit regularity perceptual-motor task and an intentional binding task (a method that can quantitatively measure SoA) simultaneously. We separated participants into groups after the experiment based on noticing or not noticing the regularity. SoA was gradually enhanced in the noticing group, compared with that of the non-noticing group. The results suggest that the experience of noticing may enhance SoA during perceptual-motor tasks.