Yes, Your Guardian Has a Voice in Destiny: You Can Hear Them All Here
Many aren’t exactly fans of the “silent protagonist” narrative style, and Destiny‘s alpha made them worry about our Guardian not having a voice of his own. Luckily the beta proved that we worried for nothing, as our characters definitely have a voice of their own, even if they really don’t speak too much.
As a matter of fact, they do only once during the whole story arc included in the beta (which seems to be the first four missions of the game), and below you can see that scene played by all six voice actors, one for each race/Gender combo, courtesy of YouTube user Jez.
Beware of extremely mild spoilers (the scene is at the end of the very first mission). Which voice is your favorite?