Voyager was a science fiction television series known to people in 1999 (PROSE: The King of Terror) and 2001. (PROSE: The Slow Empire)
Anji Kapoor watched the show out of love for her boyfriend, Dave Young. (PROSE: The Slow Empire)
Harry Kim (PROSE: The King of Terror), Seven of Nine, and Vulcan security officer Tuvok were characters on Voyager. (PROSE: The Slow Empire)
Behind the scenes
Star Trek: Voyager is the full name of the series, but like Deep Space Nine and Enterprise, it has not been properly identified as a Star Trek series in Doctor Who media.
John de Lancie, Olaf Pooley, Christopher Neame, William Morgan Sheppard, Mark Sheppard, Carolyn Seymour, Bari Hochwald, Robin Sachs, Eric Steinberg and Alice Krige appeared on the series.
The bridge of the Judoon rocket Typho, as seen in COMIC: A Confusion of Angels, is taken from Voyager, the eponymous Intrepid-class vessel of the Federation Starfleet, to the point that schematics of Voyager are visible in the background.