Changes in the retinal size of stationary objects provide a cue to the observer's motion in the environment: Increases indicate the observer's forward motion, and decreases backward motion. In this study, a series of images each comprising a pair of pine-tree figures were translated into auditory modality using sensory substitution software. Resulting auditory stimuli were presented in an ascending sequence (i.e. increasing in intensity and bandwidth compatible with forward motion), descending sequence (i.e. decreasing in intensity and bandwidth compatible with backward motion), or in a scrambled order. During the presentation of stimuli, blindfolded participants estimated the lengths of wooden sticks by haptics. Results showed that those exposed to the stimuli compatible with forward motion underestimated the lengths of the sticks. This consistent underestimation may share some aspects with visual size-contrast effects such as the Ebbinghaus illusion. In contrast, participants in the other two conditions did not show such magnitude of error in size estimation; which is consistent with the "adaptive perceptual bias" towards acoustic increases in intensity and bandwidth. In sum, we report a novel cross-modal size-contrast illusion, which reveals that auditory motion cues compatible with listeners' forward motion modulate haptic representations of object size.