Background Regular body-powered prosthesis (bp-prosthesis) training often facilitates acquisition of skills through repeated practice but requires adequate time and motivation. Therefore, if there are auxiliary tools, such as indirect training, skill acquisition may be easy. In this study, we examined the effects of action observation (AO) using virtual reality (VR) as an auxiliary tool. We examined two different modalities during AO, VR and tablet device (Tab), and two perspectives, first- and third-person perspectives. This study aimed to examine whether AO training using VR is effective in acquiring bp-prosthetic control skills in the short term. Methods Forty healthy right-handed participants simulated bp-prosthesis with the non-dominant hand. They were divided into five groups with different interventions and displays for AO: first-person perspective on VR (VR1st), third-person perspective on VR (VR3rd), first-person perspective on Tab (Tab1st), third-person perspective on Tab (Tab3rd), and control group (Con) without AO. Participants of VR1st, VR3rd, Tab1st, and Tab3rd observed the video image of experts operating prosthesis twice, 10 min each time. We evaluated the immersion during the video observation using the Visual Analog Scale. Prosthetic control skills were evaluated using the box and block test (BBT) and bowknot task (BKT). Results In BBT, no significant enhancements of prosthetic control skills between groups were found. In contrast, the BKT change rates of prosthetic control skills in VR1st and VR3rd were significantly higher than those in Con (p < 0.001). Additionally, immersion scores of VR1st and VR3rd were higher than those of Tab3rd (p < 0.05), and there was a significant negative correlation between immersion and BKT change rate (Spearman’s rs = -0.47, p < 0.01). Conclusions In BKT (bilateral manual dexterity), VR video viewing led to significantly better short-term prosthetic control acqusition than Con. Additionally, it was suggested that the higher the immersion, the shorter the BKT task execution time. Our findings suggest that VR-based AO training is effective in acquiring bp-prosthetic control in the short term. Especially, it is effective for bilateral prosthetic control, which is necessary in the daily life of upper limb amputees.