Star Trek: Prodigy and Star Trek: Voyager have long been rumored to be connected, and that rumor is in fact true.
Star Trek is a vast and expansive universe where everything connects to one another. The Original Series and the first six films came before The Next Generation, which is set in the same timeline just 100+ years in the future. Deep Space Nine and Voyager were during the same time frame as the Next Generation, Enterprise was at the beginning of the timeline and the newer shows all fall somewhere before or after the original series.
Even the 2009 Trek films, dubbed the Kelvin Timeline, are connected to those shows; as Leonard Nimoy’s Spock from the original series goes back in time and changes the timeline, thereby creating a new universe. So even though that Kelvin Timeline series of stories is its own thing, the Spock we all met for the first time that was created in the 1960s ended up in that universe.
But some stories are closer to one another in proximity. Namely, Voyager and Trek: Prodigy.
Star Trek: Prodigy is confirmed as a loose sequel to Star Trek: Voyager
Much like the Final Fantasy series of video games, Trek doesn’t do a lot of direct sequels. There’s usually a large gap between stories. That has changed in recent years, as Picard is a direct sequel to The Next Generation, and Strange New Worlds is both a sequel to Discovery and a prequel to the Original Series.
While at Star Trek: Las Vegas, Prodigy’s co-executive producer Aaron Waltke revealed that Prodigy is, in fact, a sequel to Voyager, but that’s not all, saying (via TrekMovie.com)
"Something that we always said in the writers’ room is that our show, we’re starting exploring Voyager but always, in our hearts, it was a sequel to all of Star Trek. …There’s going to be some new faces and you’re going to see plenty more familiar faces and legacy characters that I think you’ll be very excited to see."