Let $\varphi $ be an analytic self-mapping of $\mathbb {D}$ and $g$ an analytic function on $\mathbb {D}$. In this paper we characterize the bounded and compact Volterra composition operators from the Bergman-type space to the Bloch-type space. We also obtain an asymptotical expression of the essential norm of these operators in terms of the symbols $g$ and $\varphi $.