At first, David Hedison turned down the role of Lee Crane, until he learned that Richard Basehart was signed to play Nelson.
James Doohan, who played Lawrence Tobin in Hot Line (1964) and Hail to the Chief (1964), was offered the part of Chief Sharkey, but turned it down, because that same week he was offered and accepted the role of Chief Engineer Montgomery Scott of the Starship Enterprise on Star Trek (1966), which became his definitive role. Terry Becker accepted the role of Sharkey.
The season two opener, Jonah and the Whale (1965), was the first to be broadcast in color. Seaview was redesigned with only one set of observation windows and a hatch for the flying sub, although stock footage was used throughout seasons two through four, showing the sub with three or six windows. New uniforms appeared also, as well as the flying sub. Over the course of seasons two through four, there were six different flying sub models used for filming.
An often-referenced running joke is that in many episodes of the series, characters lurch to camera movements on the visibly static set to give the illusion that the Seaview had sustained impact. This was an old movie trick and was commonly used by other television shows of the period, including Star Trek (1966), but none did it so frequently, nor with such relish as Voyage. Hence, the technique is still commonly known as "Seaview Rock and Roll".
The props used in this show, (such as the computers and guns) also were used in "Lost in Space (1965)," "The Time Tunnel (1966)," "Land of the Giants (1968)," and "Batman (1966)."