I'm definitely no expert on the voices. I started out trying to provide information when no one else had it, and even then at times the content was part my opinion/theory. Others have since done better, and I thank them for it. While what's on this page is now accurate, it is also vague. I want to do a complete overhaul but am not sure how to just yet...
One of the things that always amazed me about VOLTRON was the small number of voices it took to bring all the characters to life. The original series cast was only made up of SEVEN people! Here's what little I do know about these folks.
TRESS MACNEILLE was the voice of Merla. That's easy to figure out because she was the only cast member, and a female at that, to be added to the lineup in Season Two. Apparently she's still very active in voice-overs even today, she's been reported as playing Babs on TINY TOONS, Dot in ANIMANIACS, and being on other shows too! Another place you can find Tress is doing the Lucille Ball impersonation in "Weird Al" Yankovic's song "Ricky" from the early '80s. She even played Lucy in the video too!
I know for sure that MICHAEL BELL was the voice of Lance. Michael did a guest role on a M*A*S*H episode back in the 1970s and I caught the rerun once a few years ago. I nearly fell out of my chair! He's not as dashing as Lance, but I remember him as average build and fair looking.
Most of the remaining female voices were thanks to B.J. WARD, a truly exceptional actress. She's done a lot of shows, so many I've lost track, but I do have to say that the rumor about her playing Beauty in Disney's BEAUTY AND THE BEAST is completely unfounded. That was Paige... I'm not sure on her last name... O'Hara, I think. They DO sound alike though, and I admit I was fooled at first! And I recently found out B.J. was NOT Smurfette, BTW, but B.J. Ward did provide voices in the SMURFS show... probably some of the human women, I guess. (On a side note, Smurfette is Lucille Bliss)
It has been confirmed that PETER CULLEN was the voice of Hawkins, along with Coran, Alfor, Stride the Tiger Fighter, and the Narrator. He is best known as Optimus Prime of the TRANSFORMERS (which reminded me why I knew this was him-- the credits to TRANSFORMERS:THE MOVIE!), and apparently was also Ironhide. Peter also played Nemesis in SABER RIDER AND THE STAR SHERIFFS, and even today can still be heard on tons of movie trailers!
I've gotten information about LENNIE WEINRIB. Lennie was the voice of Hunk and Lotor. Apparently he's a veteran actor, built a lot like Hunk! Sadly, though, I've also heard rumors he's moved out of the country from a very reliable source. Lennie may also have been Pidge, I'm not sure.
JACK ANGEL played Zarkon, Cossack, Hazar, and other incidental characters such as Robeasts. He has also been in "Spiderman" as Nick Fury, "Darkwing Duck" as Liquidator, "Jem" as Emmett Benton, "G.I. Joe" as Wetsuit, "Peter Pan & the Pirates" as Mullins and Cookson, "Superfriends" as Hawkman and Flash, "Pole Position" as Dr. Zachary, "Talespin" as Commisar, "Denver the Last Dinosaur" as several characters, and "Transformers" as Ramjet, AstroTrain, and Ultra Magnus. You've also heard his voice on MANY NBC promos!
NEIL ROSS has been confirmed as the voices of Keith and Jeff.
And that's, unfortunately, all I know... except for the fact that all seven worked together (along with other talent) on the SABER RIDER series.