diff --git a/packages/discord.js/src/client/actions/VoiceStateUpdate.js b/packages/discord.js/src/client/actions/VoiceStateUpdate.js
index fc7400f2e..a091067b2 100644
--- a/packages/discord.js/src/client/actions/VoiceStateUpdate.js
+++ b/packages/discord.js/src/client/actions/VoiceStateUpdate.js
@@ -25,7 +25,7 @@ class VoiceStateUpdate extends Action {
 
       // Emit event
       if (member?.user.id === client.user.id) {
-        client.emit('debug', `[VOICE] received voice state update: ${JSON.stringify(data)}`);
+        client.emit(Events.Debug, `[VOICE] received voice state update: ${JSON.stringify(data)}`);
         client.voice.onVoiceStateUpdate(data);
       }
 
diff --git a/packages/discord.js/src/client/websocket/handlers/VOICE_SERVER_UPDATE.js b/packages/discord.js/src/client/websocket/handlers/VOICE_SERVER_UPDATE.js
index f9cf53433..828656ee2 100644
--- a/packages/discord.js/src/client/websocket/handlers/VOICE_SERVER_UPDATE.js
+++ b/packages/discord.js/src/client/websocket/handlers/VOICE_SERVER_UPDATE.js
@@ -1,6 +1,33 @@
 'use strict';
 
-module.exports = (client, packet) => {
-  client.emit('debug', `[VOICE] received voice server: ${JSON.stringify(packet)}`);
-  client.voice.onVoiceServer(packet.d);
+const Events = require('../../../util/Events');
+
+module.exports = (client, { d: data }) => {
+  client.emit(
+    Events.Debug,
+    `[VOICE] received voice server: ${JSON.stringify({ ...data, token: '*'.repeat(data.token.length) })}`,
+  );
+
+  client.voice.onVoiceServer(data);
+
+  /**
+   * Represents the properties of a voice server update
+   *
+   * @typedef {Object} VoiceServerUpdateData
+   * @property {Snowflake} guildId The id of the guild this voice server update is for
+   * @property {?string} endpoint The voice server host
+   * @property {string} token The voice connection token
+   */
+
+  /**
+   * Emitted whenever a voice server is updated.
+   *
+   * @event Client#voiceServerUpdate
+   * @param {VoiceServerUpdateData} data The voice server update data
+   */
+  client.emit(Events.VoiceServerUpdate, {
+    guildId: data.guild_id,
+    endpoint: data.endpoint,
+    token: data.token,
+  });
 };
diff --git a/packages/discord.js/typings/index.d.ts b/packages/discord.js/typings/index.d.ts
index 2fc0154ff..de1ade0d6 100644
--- a/packages/discord.js/typings/index.d.ts
+++ b/packages/discord.js/typings/index.d.ts
@@ -6073,6 +6073,12 @@ export type OmitPartialGroupDMChannel<Structure extends { channel: Channel }> =
   channel: Exclude<Structure['channel'], PartialGroupDMChannel>;
 };
 
+export interface VoiceServerUpdateData {
+  endpoint: string | null;
+  guildId: Snowflake;
+  token: string;
+}
+
 export interface ClientEvents {
   applicationCommandPermissionsUpdate: [data: ApplicationCommandPermissionsUpdateData];
   autoModerationActionExecution: [autoModerationActionExecution: AutoModerationActionExecution];
@@ -6170,6 +6176,7 @@ export interface ClientEvents {
   typingStart: [typing: Typing];
   userUpdate: [oldUser: User | PartialUser, newUser: User];
   voiceChannelEffectSend: [voiceChannelEffect: VoiceChannelEffect];
+  voiceServerUpdate: [data: VoiceServerUpdateData];
   voiceStateUpdate: [oldState: VoiceState, newState: VoiceState];
   /** @deprecated Use {@link ClientEvents.webhooksUpdate} instead. */
   webhookUpdate: ClientEvents['webhooksUpdate'];
diff --git a/packages/discord.js/typings/index.test-d.ts b/packages/discord.js/typings/index.test-d.ts
index d3c5111a5..5d5d55a87 100644
--- a/packages/discord.js/typings/index.test-d.ts
+++ b/packages/discord.js/typings/index.test-d.ts
@@ -202,6 +202,7 @@ import {
   Entitlement,
   SKU,
   UserSelectMenuBuilder,
+  VoiceServerUpdateData,
   RoleSelectMenuBuilder,
   ChannelSelectMenuBuilder,
   MentionableSelectMenuBuilder,
@@ -1357,6 +1358,10 @@ client.on('userUpdate', ({ client: oldClient }, { client: newClient }) => {
   expectType<Client<true>>(newClient);
 });
 
+client.on('voiceServerUpdate', data => {
+  expectType<VoiceServerUpdateData>(data);
+});
+
 client.on('voiceStateUpdate', ({ client: oldClient }, { client: newClient }) => {
   expectType<Client<true>>(oldClient);
   expectType<Client<true>>(newClient);