The 6-Minute Step Test (6-MST) is a simple, inexpensive field test that is increasingly used to evaluate cardiorespiratory fitness. Whether sufficient performance is revealed by this test and the effect on it of motivational factors such as music is unknown. In this cross-sectional, randomized, and crossover research design, we aimed to analyze 6-MST performance and test outcomes in different music-related auditory conditions of non-musical/non-rhythmic [NM/NR], musical/non-rhythmic [M/NR], and musical/rhythmic [M/R]). We had 38 healthy young adults (M age = 21.21, SD = 1.21 years; 60% male) complete all tests, and we measured their number of steps taken, heart rate, blood pressure, respiratory rate, peripheral oxygen saturation, perceived dyspnea, and fatigue on the modified Borg scale. We recorded individually calculated submaximal values according to heart rate reached after three tests. The number of steps increased in the M/R condition relative to other conditions ( p = 0.003), and the amount of change in perceived leg fatigue was also higher in the M/R condition ( p < 0.017). Despite variable test performances in different auditory conditions, we found no statistically significant difference in cardiovascular fitness and symptoms ( p > 0.05). We concluded that the 6-MST is a useful tool for assessing maximum cardiac tolerance, especially if administered while listening to rhythmic music.