We present a void clustering analysis in configuration-space using the completed Sloan Digital Sky Survey IV (SDSS-IV) extended Baryon Oscillation Spectroscopic Survey (eBOSS) DR16 samples. These samples consist of Luminous Red Galaxies (LRGs) combined with the high-redshift tail of the SiSS-III Baryon Oscillation Spectroscopic Survey (BOSS) DR12 CMASS galaxies (called as LRG+CMASS sample), Emission Line Galaxies (ELGs), and quasars (QSOs). We build void catalogues from the three eBOSS DR16 samples using a ZOBOV-based algorithm, providing 2814 voids, 1801 voids, and 4347 voids in the LRG+CMASS, ELG, and QSO samples, respectively, spanning the redshift range 0.6 < z < 2.2. We measure the redshift space distortions around voids using the anisotropic void-galaxy cross-correlation function and we extract the distortion parameter beta. We test the methodology on realistic simulations before applying it to the data, and we investigate all our systematic errors on these mocks. We find beta(LRG)(z = 0.74) = 0.415 +/- 0.087, beta(ELG)(z = 0.85) = 0.665 +/- 0.125 and beta(QSO)(z = 1.48) = 0.313 +/- 0.134, for the LRG+CMASS, ELG, and QSO sample, respectively. The quoted errors include systematic and statistical contributions. In order to convert our measurements in terms of the growth rate f sigma(8), we use consensus values of linear bias from the eBOSS DR16 companion papers, resulting in the following constraints:f sigma(8)(z = 0.74) = 0.50 +/- 0.11, f sigma(8)(z = 0.85) = 0.52 +/- 0.10, and f sigma(8)(z = 1.48) = 0.30 +/- 0.13. Our measurements are consistent with other measurements from eBOSS DR16 using conventional clustering techniques.