The Enterprise D had a Captain’s Yacht, and likewise Voyager had an Aeroshuttle. Although we never saw it on screen. It was a small craft attached to the underside of the USS Voyager’s saucer section. It was there the whole time. You can see it attached to the Saucer. It was just never used.
The Delta Flyer basically took over its role. Now we can see the launch sequence thanks to visual effects artist Adam “Mojo” Lebowitz who posted a concept test video of the Aeroshuttle launch. Star Trek designer Rick Sternbach has also been sharing some behind the scenes Voyager stuff lately. A LOT of it. This is because next year is the 20th anniversary of the series. Below you can see some concept art for the Aeroshuttle as well as some earlier concept art for Voyager herself and even a foamcore mockup.
