You want the numbered Voyager novels. There were 25 of them, I believe. Of those I've read, the ones I've enjoyed the most were:
The first original Voyager novel. Surprisingly good characterization considering the authors had so little to go on, and a cool plot about a species that uses time travel.
A story covering several timelines and with a higher body count than Destiny.
Voyager is captured and used in an alien war. Chakotay's moment to shine.