[1] He entered the navy as a midshipman on 15 November 1809, and was engaged in the War of 1812, taking part in the capture of HMS Macedonian by USS United States[2] on 25 October 1812. .

He was also present at the capture of HMS Epervier by USS Peacock[3] on 28 April 1814 for which he received a silver medal from congress, and promoted to a lieutenant on 9 December 1814.

In December 1843, Voorhees joined Commodore Daniel Turner's Brazil Squadron blockading Montevideo in safeguarding U.S. trade during Uruguayan Civil War.

After a few months' suspension President Polk, in 1847, restored Voorhees to his full rank in the navy and gave him command of the East India Squadron on the flagship Plymouth.

At the opening of the American Civil War he urged his assignment to active duty, but, he died a few months afterward on 23 February 1862 in Annapolis, Maryland.