This study aimed to assess the quality characteristics and antioxidant properties of yam teas based on different pan-roasting times. The variables including moisture content, pH value, acidity, °Brix, degree of browning, turbidity, Hunter's color value, total sugar content, reducing sugar content, crude saponin content, sensory attributes, total polyphenol content, total flavonoid content, 2,2-diphenyl-1-picrylhydrazyl (DPPH) and 2,2′-azino-bis(3-ethylbenzothiazoline-6-sulfonic acid) (ABTS) scavenging activities, fluorescence recovery after photobleaching (FRAP) values, and reducing power were evaluated. The teas were subjected to pan-roasting with Dioscorea japonica Thunb. (DJTP) for varying durations (0, 3, 5, or 7 min, denoted as DJTP0, DJTP3, DJTP5, and DJTP7, respectively). As the pan-roasting time increased, the moisture content, pH value, L * value of Hunter's color value, total sugar content, and reducing sugar content decreased significantly. Conversely, acidity, °Brix, browning degree, turbidity, a * and b * values of Hunter's color value, and crude saponin content tended to increase with longer pan-roasting times. Moreover, the total polyphenol and total flavonoid contents, DPPH and ABTS radical scavenging activities, FRAP values, and reducing power of yam tea exhibited significant enhancement with increased pan-roasting time. In conclusion, DJTP7 demonstrated the highest antioxidant activity and favorable sensory attributes, probably attributable to the Maillard reaction occurring during tea preparation.