In fact, you can use the word "voyage" for all of them.
I made a trip to Spain : J'ai fait un voyage en Espagne
A journey : Un long voyage (I think that journey in English is linked to the idea of a longer trip son that,s what I would say in French to express the lenght)
A travel: Un voyage
I think in English you can say that you are travelling to another city, but in French, we wouldn't say that. We would say that we are "going to the the city" for example I am going to Montreal (close by) : Je vais à Montréal