Voss taught at the United States Military Academy at West Point. He attended the U.S. Naval Test Pilot School and the Armed Forces Staff College and worked for the U.S. Army Aviation Engineering Flight Activity. He was assigned to NASA at the Johnson Space Center from 1984 to 1987. In 1987 Voss was selected as an astronaut candidate. He became a mission specialist on Space Shuttle flights and served as Deputy for Flight Operations in the Space Station Program Mission Integration and Operations Office. He flew in space five times on the Space Shuttle and International Space Shuttle. Voss took part in the longest spacewalk to date, at just under 9 hours.