We report the characteristics of a voltage-induced metal-insulator transition (MIT) in macro-sized VO2 crystals. The square of MIT onset voltage (VCMIT2) value shows a linear dependence with the ambient temperature, suggesting that the Joule heating effect is the likely cause to the voltage-induced MIT. The combination of optical microscope images and Laue microdiffraction patterns show the simultaneous presence of a metallic phase in the bulk of the crystal with partially insulating surface layers even after the MIT occurs. A large asymmetry in the heating power just before and after the MIT reflects the sudden exchange of Joule heat to its environment.