Warning sounds are designed to get attention and prompt immediate action in dangerous situations. This paper examines the psychoacoustical factors that affect the effectiveness of warning sounds by looking at urgency perception and annoyance. Two listening tests were conducted, each designed to investigate the effects of different parameters on warning sound perception. For the first set of tests, three parameters were manipulated: predominant frequency component, wave shape, and roughness perception. The second trial looked at the influences of frequency, specifications in the German standards (DIN) for the warning sounds, effect of pulse rates, and musical tones. The results of the study demonstrate the importance of carefully considering psychoacoustical factors when designing warning sounds to ensure they are effective in alerting individuals to potential hazards.