Journey means going from one place to another, it can be used for long distances and short. For example "My journey to America took me 15 hours" Trip is used to talk about more then one journey and also about the time you spend in that place. For example "I spent one month in New York, it was a great trip" Voyage is a journey by sea, or in space.

Trip is a very short journey Journey is a very long trip Voyage is by sea / or in space Journey and voyage are of French origin.