This is a list of minor fictional characters from the science fiction television series Star Trek: Voyager. Characters here are members of the crew, or passengers, on the starship Voyager as it makes its way home through unknown space during the course of the series. The minor characters generally appear at most in several episodes (out of 172), sometimes in episodes that largely concern them. Of these characters, the only ones who joined the ship during its travels are the four alien children (Azan, Icheb, Mezoti, and Rebi) taken from a Borg cube.

Characters are ordered alphabetically by family name, and only characters who played a significant recurring role in any of the series are listed.

For the main cast, see Star Trek: Voyager#Cast. Due to the connected nature of the Star Trek science fiction universe, these characters may have appeared in the other Star Trek media.

Ayala was played by Tarik Ergin. He appears in the background of almost every episode, more than any other "named extra". He speaks, briefly, in a handful of episodes. He is the only character other than the regulars to appear in both the pilot episode and the finale.

Ayala, the father of two, is originally a Maquis insurgent on Chakotay's ship. Ayala joins Voyager's crew as a security officer, serving under the command of Captain Kathryn Janeway with the provisional rank of lieutenant junior grade.

Ayala serves in main engineering and at ops when Ensign Kim is not on duty, but later transfers to security. He is often seen on the bridge as a relief tactical officer when Tuvok leaves the bridge. Ayala later served as a relief helmsman when Tom Paris wasn't on duty.

In "Twisted", Ayala is left in command of the bridge while the ship is affected by a distortion ring being and the senior staff is confined to the holodecks.

In "Shattered", Chakotay encounters an alternate version of Ayala seven years younger who helps Chakotay and other time-tossed Voyager crew combat a threat posed by time-distorted Kazon invaders who hold engineering.