These days, the Internet of Things (IoT) is everywhere with a significantly increased number of devices connected to the Internet. Besides, we have also witnessed the broad adoption of the Internet telephony technologies in the last decade. In this regard, this paper investigates the integration of these two domains in order to enable voice and telephony services in IoT, resulting in a new paradigm that we named Voice over IoT (VIoT). To do so, a novel, efficient and low-cost integration architecture is introduced in order to connect IoT devices with voice capabilities to the Voice over Internet Protocol (VoIP) ecosystem and to enable people to interact with them. Also, a validation and evaluation study is presented in order to show the applicability of the proposed system for VIoT applications in industrial and consumer domains.