If Tuvok had not been a Maquis spy anymore prior to the start of Voyager, the Maquis ship with Chakotay and Torres would still get pulled into the Delta Quadrant, but they wouldn't last long. Voyager would have not been sent to the Delta Quadrant.
No Neelix, no Kes (would still be on Ocampa), no borg children, no Seven of Nine (she would still be borg on that borg ship).
Voyager would just have normal missions in the Alpha Quadrant and Beta Quadrant. Tuvok would have returned to starfleet service and served on Voyager as Chief Tactical/Security. Harry Kim would stay on and would get promoted a couple times throughout the series. Voyager would still have Janeway's first officer, the chief medical officer, the head nurse, chief engineer, Cavit (helmsman). As for Tom Paris, perhaps Janway would still have him as an observer and to be reinstated into starfleet service and perhaps have a choice of serving on the ship. If Cavit was to let Paris be chief flight control officer to replace, she could switch to the science department or engineering.
Tom Paris would have had a different love interest...perhaps with Cavit anyways since he seem to have been interested in her from the first episode before she was killed after Voyager got pulled into the Delta Quadrant.
Samantha Wildman would have stayed on DS9 with her husband and still give birth to Naomi.