Voyage - usually, but not always, on a boat. Not used that often in conversation, more often is in books.
Journey - A long trip. It could be spiritual. Maybe you do not know where it is going to end. Is more of a romantic phrasing of 'trip'.
Trip - Is going somewhere.
Travel - The act of going somewhere. It is a verb.
We will voyage across the seas and find the new land!
The greatest journey is that of finding yourself.
Lets make a trip to the mall.
We are traveling there soon.