Researchers followed 204,542 people for more than six years and compared those who engaged in only moderate activity (such as gentle swimming or household chores) with those who included at least some vigorous activity (such as jogging, aerobics or competitive tennis).
They found that the risk of mortality for those who included some vigorous activity was 9 to 13 per cent lower, compared with those who only undertook moderate activity.
"The benefits of vigorous activity applied to men and women of all ages, and were independent of the total amount of time spent being active," said lead author Dr Klaus Gebel from James Cook University's Centre for Chronic Disease Prevention.
Co-author Dr Melody Ding from University of Sydney's School of Public Health, said the results indicated that vigorous activities should be more strongly encouraged in clinical and public health guidelines.
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"Our research indicates that encouraging vigorous activities may help to avoid preventable deaths at an earlier age," Ding said.
The study classified participants into three groups: those who reported that none of their physical activity was at a vigorous level, and those who reported that up to 30 per cent or more of their activity was at a vigorous level.
For those whose exercise routine was vigorous for more than 30 per cent of the time, the rate of mortality was reduced by 13 per cent.
"Our research indicates that even small amounts of vigorous activity could help reduce your risk of early death," Gebel said.
"For those with medical conditions, for older people in general, and for those who have never done any vigorous activity or exercise before, it's always important to talk to a doctor first," Gebel said.
The research was published in the journal JAMA Internal Medicine.