The character of Tom Paris was inspired by another Star Trek character, Cadet Nick Locarno from the Star Trek: The Next Generation episode "The First Duty," who was also played by Robert Duncan McNeill. The creators decided they wanted a character "like" the cadet, and ended up with one who practically differed in name only. Ironically, McNeill was cast in the role as an afterthought.

Originally, Geneviève Bujold was cast as Captain Elizabeth Janeway, but she dropped the role after the first day of shooting because she claimed to not be able to handle the week-by-week shooting schedule of a show such as Star Trek.

Even during auditions, the creative staff was unsure whether Janeway would be female or male. They opened up the auditions to both genders. Some of the male contenders for the role included Gary Graham and Nigel Havers.

Armin Shimerman (Quark) and Richard Poe (Gul Evek) have both played the same character on three different Star Trek series. The only other actors to do so are John de Lancie (Q) and Michael Ansara (Kang.)

 When auditioning for the part of the holographic doctor, Robert Picardo was asked to say the line "Somebody forgot to turn off my program". He did so, then ad-libbed "I'm a doctor, not a light bulb" and got the part.

Hudson Leick and Claudia Christian both read for the role of Seven of Nine.

Many well-known actresses were considered for the role of Janeway including: Erin Gray, Nicola Bryant, Joanna Cassidy, Linda Hamilton, Carolyn McCormick, Lindsay Wagner and Patty Duke.

Tim Russ was originally considered for the part of Geordi La Forge in Star Trek: The Next Generation.

The character of Tom Paris was a last-minute creation. Originally, Nicholas Locarno, (also played by 'McNeill Robert Duncan',) a Starfleet Academy cadet who had been expelled in the episode "The First Duty" of Star Trek: The Next Generation, was to have been the person that Captain Janeway released from prison to help track down the Maquis ship. However, using Locarno in Star Trek: Voyager would mean the producers would have to pay royalties to Ronald D. Moore and Naren Shankar (the writers of "The First Duty") every time Locarno appeared in an episode. Rather than do that, the producers created the character of Tom Paris, who shares a similar back story as Nick Locarno (both had been cashiered out of Starfleet having caused the death of another officer).

The Ferengi from Star Trek: Next Generation's episode "The Price" were in "False Profits".

In the series finale, "Endgame", the main starship classes from all three "Star Trek spinoffs appear in the final shot of the episode. A Galaxy-class starship (the Enterprise-D from Star Trek: The Next Generation), a Defiant-class starship (the Defiant from Star Trek: Deep Space Nine), and of course an Intrepid-class starship (the Voyager from this series).

Early in planning, Michael Dorn's character of Lieutenant Worf from Star Trek: The Next Generation had been suggested as being part of the Voyager crew. The idea was dropped when Dorn chose not to pursue the role. However, he did continue to play his Worf character on Star Trek: Deep Space Nine as well as in Star Trek: Generations, Star Trek: First Contact, Star Trek: Insurrection and Star Trek: Nemesis.

The episode "Counterpoint" features an alien race called the Devore, who routinely board and search passing ships for telepaths. The lead Devore investigator is named Kashyyk, after Chewbacca's home planet in Star Wars.

Each of the three live-action Star Trek series after the original Star Trek has had a cameo appearance by a character from its predecessor series in its premiere episode: "Star Trek: The Next Generation" had Spock, Dr. McCoy, and Scotty, "Star Trek: Deep Space Nine" had Captain Picard, and "Star Trek: Voyager" had Quark. Next Generation also had Spock. Voyager has had Riker and Deanna Troi.

The Doctor's name was originally going to be "Dr. Zimmerman", but this was dropped. Several early episodes, however, identify the character as Zimmerman in the closed captions. It was later established that Zimmerman was the name of The Doctor's programmer, and the character appeared in episodes of Voyager and Deep Space Nine. The real last name of actress Jeri Ryan also happens to be Zimmerman.

Just before Voyager began, Tim Russ appeared as a human crewmember on the Enterprise-B in Star Trek - Generations. He also appeared as a member of a terrorist gang stealing explosives from the Enterprise-D in episode: 6.18 of Star Trek: The Next Generation, "Starship Mine" in which he suffered a nasty demise.

Then-Crown Prince Abdullah of Jordan appears in the episode "Investigations." He plays a crewmember in the sciences division. Because he's not a member of the Screen Actors Guild, he was not allowed any lines.

In the episode "Inside Man", the holographic doctor wishes to play a round of golf with the Barclay hologram. One course he suggested was the "back nine on Geidi Prime." This is another reference to Dune.

In the episode "Q Two", Q and his son Q2, are played by a real father-and-son team, 'John De Lancie' and 'Keegan De Lancie' .

The episode "The Void" contains many references to Babylon 5. Robin Sachs, who played a Minbari councillor in the B5 TV movie "In the Beginning," stars in "Void" as an alien named Valen. In B5, Valen was a holy figure among the Minbari. Also, "The Void" features a 'raider' spaceship first used in the B5 episode "Signs and Portents." And 'Vejar, Mike' , who directed several B5 episodes, also directed "The Void."

Robert Picardo, who plays the holographic doctor, also played a holographic doctor in Star Trek - First Contact.

Jeri Ryan turned down the role of Seven of Nine four times; she only accepted the part after repeated lobbying by executive producer Jeri Taylor.

The number 47 pops up many times on computer screens, serial numbers, dates and so on. This tradition was started by writer/co-producer Joe Menosky and was soon picked up by the rest of the production team. Menosky said that he choose that particular number because when he was a graduate student at Pomona College, the professor of mathematics, Donald Bentley proved as a joke that all numbers are equal to 47.

The "voice" in the theme song is a synthesizer saying Star Trek: Voyager over and over again.

The character of Ensign Samantha Wildman was named after a real person, a little girl who died tragically in an accident. The girl's organs were donated to save the life of the wife of episode writer Jimmy Diggs. The real Samantha loved animals, so Ensign Wildman was cast as the head of Voyager's xenobiology department.

The Paramount soundstage where the majority of the Voyager interiors were located, was condemned and demolished following the completion of filming of the series finale in 2001. The Next Generation crew quarters, transporter rooms, and portions of Engineering were the only sets that became part of the U.S.S. Voyager following the filming of "Star Trek: Generations". All other Star Trek: The Next Generation Enterprise sets were demolished.

Robert Duncan McNeill who plays Thomas Eugene Paris appears in an Episode of Star Trek: The Next Generation as Nicholas Locarno in episode "The First Duty"

Near the end of the series, Dominic Keating tried out for a role in the show. He was turned down because Rick Berman wanted him for his new series, Star Trek: Enterprise.

Michelle Forbes, who had played Ensign Ro in Star Trek: The Next Generation and turned down the chance to continue the character in Star Trek: Deep Space Nine, was invited to return as Ro in Voyager, but once again turned down the role. It is speculated that the character of B'Elanna Torres was developed as a result.

The introduction of Seven of Nine is credited with saving the series from possible cancellation after its first few seasons, as the sexy character sparked a revival in ratings.

In "Equinox, Part 2", while on an alien world, Mr. Lessing makes a reference to it looking just like McKinley Park,which is a popular filming location for all the "Star Trek" series, including this one.

Thus far, all five Star Trek series have featured at least one character who is the first of their species in Starfleet. This series has at least two, Seven of Nine is the first Borg and the Doctor the first hologram. Neelix and Kes also served specific functions on the ship, but were never formally inducted.

The show's first season ended prematurely when UPN decided to air several season one episodes at the beginning of season two, instead.

In the season 4 episode, "Scientific Method", it is revealed that Voyager has 257 rooms and 13 departments.

Like its predecessors, the series used a large filming model of the starship where the show takes place. It wasn't until the last few seasons that a computer generated (CGI) starship replaced the 6-foot model. Nevertheless, the "USS Voyager" seen in the opening credits (which date back to late-1994), is totally CGI.

Seven of Nine's full designation is Seven of Nine Tertiary Adjunct Unimatrix Zero 1.

In the episode "Unimatrix Zero" we see the Borg Queen holding the head of a Borg drone she is examining. The head is actually a model of Brent Spiner's head; it was first used in an episode of "Star Trek: The Next Generation" to represent Data's disembodied head in the episode "Time's Arrow."

This is the only Star Trek series whose title sequence remained unchanged throughout its run, aside from one casting change (the replacement of "Jennifer Lien as Kes" with "Jeri Ryan as Seven of Nine"), and the changing of Roxann Dawson's name from the original Roxann Biggs-Dawson. The rank of the character's was also dropped from their names later during the series run.

Seven of Nine's real name, as revealed in an early appearance, is Annika Hansen.

The episode "Year of Hell" was inspired greatly by Jules Verne's "20,000 Leagues Under The Sea". The name of the character Annorax was derived from the main character of that story, Pierre Aronnax.

The first and final episodes have the same last line, "Set a course, for home," said by Captain Janeway.

For the episode "Flashback", the USS Excelsior bridge (originally seen in Star Trek VI) was recreated. It was later re-used as a number of starship bridges, such as the USS Righteous in the "Star Trek: Borg" computer game.

In some early episodes, Neelix is seen training with Tuvok in ship's security. The writers' original intent was for Neelix to get a Starfleet commission and join Tuvok's security staff full-time, but this was eventually dropped (although in the alternate timeline of "The Year of Hell", Neelix does become a Starfleet security officer).

The 'Star Trek Crews' from all the Star Trek series were ranked 2 in TV Guide's list of the "25 Greatest Sci-Fi Legends".

Before the premiere, it was announced that the male Native American character (Chakotay) would have a wolf as a "spirit guide" and would be seen frequently during the series, however, the wolf never appeared. (Though we did see Captain Janeway's and learned comedically that B'Elanna Torres tried to kill hers.)

In the opening credits of the first episode, the character name Tuvok is not identified with a rank, in order not to give away his identity as a Starfleet officer working undercover. In later seasons, rank designations were removed from the character names, except for Janeway.

This is the only Star Trek series to have an entirely American cast.

In the series finale, "Endgame", Janeway gives Tuvok a picture of the Voyager crew. The picture is in fact a fifth season promo photo issued by Paramount Pictures.

Anthony Montgomery, who would later play Travis Mayweather on Star Trek: Enterprise auditioned for two different roles on Voyager. One such role was Sek, Tuvok's son.

Crew or equipment visible: In "Basics - part two", there is a CG cave monster. The first time it comes out, we see through its eyes as it heads for the entrance of the cave, and the walls of the stage are visible in the last few frames.

Continuity error: Throughout the series, the number of crewmen on Voyager has fluctuated despite the fact that several have died over the course of the series, and virtually none have been added. The number of the crew has been as few as 125 and as many as 160.

“Dark Frontier” originally aired in 1999. In later airings (in two parts) some cut material was restored. One restored scene shows Seven getting angry after hearing Harry Kim and Tom Paris making anti-Borg remarks in the mess hall.

Several episodes, such as the show's debut and finale, were originally aired as 2-hour TV-movies. For syndication, these episodes were reedited into two-part episodes to fit one-hour timeslots.

The pilot episode, "Caretaker", originally had no commercial break after the opening credits. A break was added for the 2-part syndicated version.