This paper presents the AO performance we got on-sky with RAVEN, a Multi-Object Adaptive Optics (MOAO) technical and science demonstrator installed and tested at the Subaru telescope. We report Ensquared-Energy (EE) and Full Width at Half Maximum (FWHM) measured from science images on Subaru's IRCS taken during all of the on-sky observing runs. We show these metrics as function of different AO modes and atmospheric conditions for two asterisms of natural guide stars. The performances of the MOAO and Ground-Layer AO (GLAO) modes are between the classical Single-Conjugate AO (SCAO) and seeing-limited modes. We achieve the EE of 30% in H-band with the MOAO correction, which is a science requirement for RAVEN. The MOAO provides sightly better performance than the GLAO mode in both asterisms. One of the reasons which cause this small difference between the MOAO and GLAO modes may be the strong GL contribution. Also, the performance of the MOAO modes is affected by the accuracy of the on-sky turbulence profiling by the SLOpe Detection And Ranging (SLODAR) method.