Upon its release, "Voyage" received positive reviews from music critics, praising its production quality and describing it as "graceful."

"Voyage" was used as the theme song of the Japanese film Tsuki ni Shizumu, which was created in lieu of a music video for the single.

In order to promote the single, it appeared on several remix and greatest hits albums and live concert tours conducted by Hamasaki.

[1][2] Musically, "Voyage" is a power ballad which features Hamasaki singing "positive" lyrics with a "strong" voice, accompanied by strings and piano.

[2][5] Its CD edition featured a total of four tracks, two of which were remixes of the songs "Hanabi" and "Independent" and its instrumental.

[2] The cover art is photographed by Mitsuo Yamamoto and depicts Hamasaki wearing a coral kimono in the woods with a white horse in the back.

[2] A member of CD Journal was positive towards the original version of the single, but also complimented the remixes featured on its maxi release.

The review said that the forest and white horse, as well as the vivid artwork, perfectly match the image of the song.

[3] For their review of Rainbow the magazine called the song "Voyage" "high quality" and praised the arrangement.

[14][15] "Voyage" managed to sell a total of 628,730 copies by the end of 2002, becoming the ninth-best-selling single of the year in Japan according to Oricon.

[22] The video starts with a young woman named Minamo (played by Hamasaki) is at a mental institution and has recurring detailed visions of a traumatizing past life.

Back in the present time, Minamo finds the lake where she was traumatically sacrificed to the moon in her past life.