Voit, 30, had surgery March 29 to repair a torn meniscus in his left knee and hit .389 (7-for-18) with two doubles and three homers during a five-game injury rehabilitation assignment from May 4-9 with Triple-A Scranton/Wilkes-Barre.
Voit missed the first 34 games of the Yankees, who went 18-16. He batted .277 last season with 22 homers and 52 RBIs in 213 at-bats over 56 games.
New York first basemen hit .153 (19-for-124) in his absence with three homers, 10 RBIs, 36 strikeouts and 17 walks.
In Voit’s absence, Jay Bruce played 10 games at first base and hit .118 (4-for-34) with one homer, three RBIs, 13 strikeouts, five walks, then retired.
Mike Ford played 13 at first and batted .103 (4-for-39) with two homers, four RBIs, 14 strikeouts and six walks, and DJ LeMahieu played 15 there and hit .282 (11-for-50) with no homers, three RBIs, nine strikeouts and six walks. Miguel Andújar had one game at first, going 0-for-4.
With Voit’s return, LeMahieu figures to get most of his time at second base.
The Yankees opened a roster spot for Voit on Sunday when they optioned Andújar to Scranton.