Not sure, but I think there's a new billboard in the opening titles, just to the upper right of the screen the ship crashes into. I couldn't make out what it said. And I couldn't see if it was there in the shortened titles to the second episode.
It could be seen in the first episode. The sign switched from "Mom's Friendly Robot Company" to "Smart Sausages" to "Got Protoplasm?"

You could not see it in the second episode as the title sequence was shortened and cut to the shot after the sign floated out of view (there was also no old cartoon clip in the viewer in the second episode). You can still see the edge of it though.

I noticed several other subtle differences with the title sequence in terms of new billboards and what not. The whole thing looked spiffed up for some reason. I wonder if it was reanimated. Maybe it's just me.
I was reading a review earlier today (I think at TV Squad, but can't seem to find it now), and the reviewer was talking about how different some of the voices were, especially Billy West, and especially Fry. He said Fry was a whole octave lower, so I was really listening for that. Basically, I couldn't tell any real discernible difference in any of the voices.
I didn't notice anything different with the voices either.
If you want your mind blown with voice differences/evolution, go watch "The Devil's Hands Are Idle Playthings" followed by "Space Pilot 3000".