Voluntary action is peculiar in several ways. For example, it is highly prospective in nature, requiring the activation of the representations of anticipated action-effects (e.g., a button pressed). These prospective action-effects can represent outcomes in the short-term (e.g., fingers snapping or uttering “cheers”) or in the long-term (e.g., building a house). In this review about the prospective nature of voluntary action, we first discuss in brief ideomotor theory, a theoretical approach that illuminates both the nature of the prospective representations in voluntary action and how these representations are acquired and subsequently used in the control of behavior. In this framework, prospective action-effects could be construed as ‘action options’ that, residing in consciousness, may or may not influence upcoming behavior, depending on the nature of the other prospective action-effects that happen to be coactivated at that time. In ideomotor theory, there is no homunculus that selects one prospective action-effect over another. Many of these prospective action-effects enter consciousness automatically. Second, we introduce the principle of atemporality and discuss the prospective nature of determining tendencies and mental simulation, all in the context of new findings from the Reflexive Imagery Task (RIT). The RIT reveals that, as a function of external control, prospective action-effects can enter consciousness in a reflex-like, automatic, and insuppressible manner. The RIT and its associated theoretical framework shed light on why the activation of such representations, though often undesired, is nonetheless adaptive and why not all of these prospective representations lead to overt action.