The BBC One series won the night with an average audience of 9.54 million, up for a third consecutive week on its debut last month.
Britain's Got Talent meanwhile dipped significantly from last week's 10.3 million, falling to less than 10 million viewers.
An average audience of 9.4 million watched the show between 8PM and 9:15PM, while a further 200,000 caught up an hour later with +1.
BGT did however win in the peaks, with an audience of close to 12 million viewers watching at one point compared to The Voice's 10.7 million.
Meanwhile Keith Lemon's new primetime ITV1 series Lemonaid debuted with 3.4 million.