From the Voyager manual in the section about the back panel:
CV/EXPRESSION INPUTS (applies to Voyager keyboard models only): The CV/Expression Inputs are 1⁄4” TS jacks color coded with a red nut. These jacks accept an input from an expression pedal such as the Moog EP-2, or a CV from -5V to +5V. Note that some inputs, such as the MOD 1and VOLUME operate only from 0V to +5V, so applying a negative CV to these inputs will have no effect.
GATE/FOOTSWITCH INPUTS (applies to Voyager keyboard models only): The Gate/Footswitch Inputs are 1⁄4” TS jacks color coded with a blue nut. These jacks accept an input from a footswitch (a momentary,normally-closed footswitch like the Moog FS-1) or a +5Volt Gate Signal.
The ever helpful Rosser Douglas from Moog has offered this about using a Doepfer modular with the Voyager:
There is some buffer protection on the external CV inputs, but the
Voyager may not function/respond correctly with a CV swing that high.
The Voyager is looking for 0 to +5V or -5 to +5V. Try to see how the
unit responds, and I do not think that you will run into any serious
problems.
The audio and mixer inputs are different from the CV inputs, and should be able to handle most level signals that you input. If it is clipping all the time, even with the external level turned down, than it may be too hot of a signal.
So it looks like it is best to attenuate the signals but not to get overly worried about blowing anything up!