We propose a covariant Hamiltonian action for the Prokushkin and Vasiliev's matter coupled higher spin gravity in three dimensions. The action is formulated on X 4 ×Z 2 where X 4 is an open manifold whose boundary contains spacetime and Z 2 is a noncommutative twistor space. We examine various consistent truncations to models of BF type in X 4 and Z 2 with B 2 terms and central elements. They are obtained by integrating out the matter fields in the presence of a vacuum expectation value ν ∈ R for the zero-form master field. For ν = 0, we obtain a model on X 4 containing Blencowe's action and a model on Z 2 containing the Prokushkin-Segal-Vasiliev action. For generic ν (including ν = 0), we propose an alternative model on X 4 with gauge fields in the Weyl algebra of Wigner's deformed oscillator algebra and Lagrange multipliers in the algebra of operators acting in the Fock representation space of the deformed oscillators.