Cardiorespiratory interactions at the onset of dynamic cycling exercise are modified by warm-up exercises. We tested the hypotheses that oxygen uptake (VO₂) and cardiac output (Q) kinetics would be accelerated at the onset of heavy and moderate cycling exercise by warm-up. Nine male endurance athletes (VO_2peak: 60.5 ± 3.2 (mL/min)/kg) performed multiple rides of two different 36-minute cycling protocols involving 6-minute bouts at moderate and heavy intensities. Breath-by-breath VO₂ and beat-by-beat stroke volume (SV) and Q estimated by Modelflow from the finger pulse were measured simultaneously with kinetics quantified from the phase two time constant (₂). One novel finding was that both moderate (M) and heavy (H) warm-up bouts accelerated phase two Q kinetics during a subsequent bout of heavy exercise (₂: after M=22.5 ± 2.7 s, after H=22.1 ± 2.9 vs. 26.2 ± 3.2 s; P < 0.01). Q kinetics in heavy exercise were accelerated by both warm-up intensities (₂: M=22.0 ± 4.1 s, H=23.8 ± 5.6 s vs. 27.4 ± 7.2 s; P < 0.05). During moderate exercise, prior heavy intensity warm-up (one or two bouts) accelerated VO₂ kinetics and elevated Q at exercise onset, with no changes in Q kinetics. A second novel finding was a significant overshoot in the estimate of SV from Modelflow in the first minutes of each moderate and heavy exercise bout. These findings suggest that the acceleration of VO₂ kinetics during heavy exercise was enabled by the acceleration of Q kinetics, and that rapid increases in Q at the onset of moderate and heavy exercise might result in part from an overshoot of SV.