Recently, with the development multimedia technologies and wireless telecommunication, Voice over Internet Protocol, becomes widely used in communication between connecting people, VoIP allows people that are connected to the local network or the Internet to make voice calls using digital connection instead of based on the analog traditional telephone network. The technologies of Internet doesn’t give any security mechanism and there is no way to guarntee that the voice streams will be transmitted over Internet or network have not been intercepted in between. In this paper, VoIP is developed using stream cipher algorithm and the chaotic cryptography for key generator. It is based on the chaotic maps for generating a one-time random key used to encrypt each voice data in the RTP packet. Chaotic maps have been used successfully for encryption bulky data such as voice, image, and video, chaotic cryptography has good properties such as long periodicity, pseudo-randomness, and sensitivity to initial conditions and change in system parameters. A VoIP system was successfully implemented based on the on ITU-T G.729 for voice codec, as a multimedia encoding of Real-time Transport Protocol payload data, then, apply a proposed method to generate three-mixed logistic chaotic maps [1] and then analysis the encryption/ decryption quality measures for speech signal based this method. The experimental work demonstrates that the proposed scheme can provide confidentiality to voice data with voice over IP performance quality, minimum lost in transmitted packet, minimum average delay, and minimum jitter.