Voyager doesn't currently allow you to export trading history from their website, so you will need to go through the tax request form to get your transaction history.
Navigate to the Voyager Tax Request form.
Fill out the form with your Voyager account email and select the following options on the form:
Both the options for CryptoTrader.Tax and the Other (Voyager default format) are accepted files formats.
However if you earned interest on Voyager make sure to select Other (Voyager default format). The option for CryptoTrader.Tax does not include interest transactions at this time.
Navigate to the Voyager tab inside of CryptoTrader.Tax and upload the trade history file you received from their support team.