Robots are becoming increasingly integrated into our daily lives, necessitating greater adaptability. When it comes to communication, a robot must understand more than just speech, as relying on word recognition alone can be challenging in noisy environments. A possible option is represented by the use of gesture recognition, which, despite its general effectiveness, has its drawbacks. Consequently, multimodal interactions, which combine speech and gestures, have emerged. Several studies have validated this approach from the point of view of performance, but few have focused on the user experience with such systems. This research aims to fill that gap by comparing participant interactions with a simulated robot using speech, gestures, or both. Participants were then surveyed on the system’s perceived usability, their trust in the robot, and their perceptions of the robot’s competence and discomfort. While no significant differences were found regarding trust, perceived competence, or perceived discomfort, the results indicate a preference for speech-only interactions in several aspects of usability, thus suggesting multimodality, though effective, does not represent the final user-preferred alternative to environmental challenges.