The brain uses recent history when forming perceptual decisions. This results in carryover effects in perception. Although separate sensory and decisional carryover effects have been shown in many perceptual tasks, their existence and nature in temporal processing is unclear. Here, we investigated whether and how previous stimuli and previous choices affect subsequent duration perception, in vision and audition. In a series of three experiments, participants were asked to classify visual or auditory stimuli into ‘shorter’ or ‘longer’ duration categories. In Experiment 1, visual and auditory stimuli were presented in separate blocks. Results showed that current duration estimates were repelled away from the previous trial’s stimulus duration, but attracted towards the previous choice, in both vision and audition. In Experiment 2, visual and auditory stimuli were pseudorandomly presented in one block. We found that sensory and decisional carryover effects occurred only when previous and current stimuli were from same modality. Experiment 3 further investigated the stimulus-dependence of carryover effects within each modality. In this experiment, visual stimuli with different shape topologies (or auditory stimuli with different audio frequencies) were pseudorandomly presented in one visual (or auditory) block. Results demonstrated sensory carryover (within each modality) despite task-irrelevant differences in visual shape topology or audio frequency. By contrast, decisional carryover was reduced (but still present) across different visual topologies, and completely absent across different audio frequencies. These results suggest that serial dependence in duration perception is modality specific. Moreover, repulsive sensory carryover effects generalize within each modality, whereas attractive decisional carryover effects are contingent on contextual details.