Objective: Remote-access robotic thyroidectomy via transaxillary approach has gained popularity for its cosmetic advantages. However, comprehensive voice outcome analysis following the minimally invasive single 2cm incision gas-insufflation technique remains limited. This study aimed to evaluate objective and subjective voice parameters before and after transaxillary single 2cm incision gas-insufflation thyroidectomy. Methods: A total of 82 patients who underwent transaxillary single 2cm incision gas-insufflation thyroidectomy between 2024 and 2025 were prospectively enrolled. 62 patients had MDVP and voice test results before and after surgery. The majority had papillary thyroid carcinoma and underwent hemithyroidectomy (n=55, 85.9%). Voice outcomes were assessed using objective acoustic parameters (maximum phonation time [MPT], jitter, shimmer), perceptual GRBAS scale (Grade, Roughness, Breathiness, Asthenia, Strain), and subjective voice handicap indices (VHI-30, VHI-10) preoperatively and postoperatively. Results: No statistically significant differences were observed in objective voice parameters. MPT decreased from 15.01±5.07 to 12.22±4.51 seconds (p=0.097). Jitter increased from 1.12±0.75% to 1.28±0.88% (p=0.491), while shimmer remained stable (4.42±1.68% vs. 4.43±1.62%, p=0.977). GRBAS scores showed minimal changes without statistical significance across all parameters. Although subjective voice handicap scores showed numerical increases, these differences were not statistically significant. Conclusion: Transaxillary single 2cm incision gas-insufflation robotic thyroidectomy demonstrated favorable voice outcomes with preservation of both objective acoustic parameters and perceptual voice quality. The absence of significant postoperative voice deterioration suggests that this minimally invasive approach is safe regarding voice function, making it a viable option for patients seeking cosmetically superior thyroidectomy with voice preservation.