The present study investigates the relationship between sound quality metrics (SQMs) and noise annoyance for airborne wind energy systems (AWESs) reported in a listening experiment. A convenience sample of 75 participants rated their annoyance on the International Commission on Biological Effects of Noise (ICBEN) scale in response to nine recordings from in-field measurements of two different fixed-wing and one soft-wing ground-generation AWES. All recordings were normalized to have the same A-weighted equivalent sound pressure level. The acoustical analyses showed that the fixed-wing kites presented a more tonal and narrowband sound signature than the soft-wing kite. Linear-mixed effects models indicated that sharpness was the only SQM predicting participants’ annoyance ratings and that the fixed-wing kites were rated as more annoying than the soft-wing kite. In addition, the effect of some SQMs on annoyance depended on participant characteristics, with loudness having a weaker impact on annoyance for participants familiar with AWESs and tonality having a weaker effect on annoyance for older participants. However, these moderation effects could be random due to the non-probability sampling used.