In this paper, we calculate the soft-collisional energy loss of heavy quarks traversing the viscous quark-gluon plasma including the effects of a finite relaxation time $tau_pi$ on the energy loss. We find that the collisional energy loss depends appreciably on $tau_pi$ . In particular, for typical values of the viscosity-to-entropy ratio, we show that the energy loss obtained using $tau_pi$ = 0 can be $sim$ 10$%$ larger than the one obtained using $tau_pi$ = 0. Moreover, we find that the energy loss obtained using the kinetic theory expression for $tau_pi$ is much larger that the one obtained with the $tau_pi$ derived from the Anti de Sitter/Conformal Field Theory correspondence. Our results may be relevant in the modeling of heavy quark evolution through the quark-gluon plasma.