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..e4d76b71a 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.js');
+
+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/src/client/websocket/handlers/VOICE_STATE_UPDATE.js b/packages/discord.js/src/client/websocket/handlers/VOICE_STATE_UPDATE.js
index fdbc5078c..8557d6813 100644
--- a/packages/discord.js/src/client/websocket/handlers/VOICE_STATE_UPDATE.js
+++ b/packages/discord.js/src/client/websocket/handlers/VOICE_STATE_UPDATE.js
@@ -23,7 +23,7 @@ module.exports = (client, { d: data }) => {
 
   // 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/typings/index.d.ts b/packages/discord.js/typings/index.d.ts
index 8db068601..655f09385 100644
--- a/packages/discord.js/typings/index.d.ts
+++ b/packages/discord.js/typings/index.d.ts
@@ -5458,6 +5458,12 @@ export type OmitPartialGroupDMChannel<Structure extends { channel: Channel }> =
   channel: Exclude<Structure['channel'], PartialGroupDMChannel>;
 };
 
+export interface VoiceServerUpdateData {
+  endpoint: string | null;
+  guildId: Snowflake;
+  token: string;
+}
+
 export interface ClientEventTypes {
   applicationCommandPermissionsUpdate: [data: ApplicationCommandPermissionsUpdateData];
   autoModerationActionExecution: [autoModerationActionExecution: AutoModerationActionExecution];
@@ -5571,6 +5577,7 @@ export interface ClientEventTypes {
   typingStart: [typing: Typing];
   userUpdate: [oldUser: PartialUser | User, newUser: User];
   voiceChannelEffectSend: [voiceChannelEffect: VoiceChannelEffect];
+  voiceServerUpdate: [data: VoiceServerUpdateData];
   voiceStateUpdate: [oldState: VoiceState, newState: VoiceState];
   warn: [message: string];
   webhooksUpdate: [channel: AnnouncementChannel | ForumChannel | MediaChannel | TextChannel | VoiceChannel];
diff --git a/packages/discord.js/typings/index.test-d.ts b/packages/discord.js/typings/index.test-d.ts
index 86d8b5760..578ecce1a 100644
--- a/packages/discord.js/typings/index.test-d.ts
+++ b/packages/discord.js/typings/index.test-d.ts
@@ -202,6 +202,7 @@ import type {
   Invite,
   GuildInvite,
   AuthorizingIntegrationOwners,
+  VoiceServerUpdateData,
 } from './index.js';
 import {
   ActionRowBuilder,
@@ -1379,6 +1380,10 @@ 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);