Travel is mainly used as a verb. It means to change location.
Trip is a noun and means a short journey.
Journey is mainly used as a noun. It means travelling between two or more points especially when using a vehicle.
Voyage is mainly used as a noun and means a long journey by boat.
- I have to travel to Spain for my job.
- While we were on holiday we went on several day trips.
- The journey from Liverpool to London takes about three hours.
- The voyage to South Africa took more than six weeks by sea.