Abstract-In this paper, an evaluation of SIP signaling and voice QoS for SIP based VoIP using GSM voice codec system over IPv6 MANETs with Static, and Random mobility models. This evaluation study considered two types of reactive routing protocols, AODV and DSR. The study examined IPv4, IPv6, and Robust Header Compression (ROHC) as a compression/decompression system for IPv6 headers. The evaluation results show that SIP signaling and VoIP traffic are acting poorly over IPv6 even when applying ROHC. In general, AODV has low performance over different types of Random mobility models for MANET nodes, while DSR shows better performance with Static mobility models and bad performance with Random mobility models. When using ROHC for TCP traffic, a level of enhanced performance had shown for SIP based VoIP calls over IPv6 MANET. However ROHC still has longer delays and poor performance compared with SIP based VoIP over IPv4 MANET. Therefore, the SIP signaling for IPv6 MANET reactive protocols require further enhancements for SIP/TCP registration and retransmission timers to be able to employ the capabilities of IPv6 and ROHC system for SIP based VoIP and real-time applications over MANET.