Yeah, at least one.
I find it somewhat glaring given the premise that only three supporting characters, appeared in more than ten episodes (Seska, the Naomis and Icheb), compared to TNG where you had ten characters (admittedly not a huge difference), however six of those appeared in at least forty-five episodes and one of them (Carl David Burks as "Russel") is the fifth most regular appearing guest/day player on the Voyager list despite having nearly nines times more appearances on the Enterprise!
The key difference is that VOY's premise leaned towards a high(er) number of recurring characters as they weren't likely to get any crew transfers anytime soon. In the case of the TOS/TNG/DSN a lack of recurring crew can be explained away as crew transfers.