Coach Larry Krystkowiak says the seven-year N-B-A veteran is expected to add depth to Milwaukee's frontcourt, backing up center Andrew Bogut.
The coach says Voskuhl gives the team another option at the post.
Voskuhl has averaged 4-point-6 points and 3-point-8 rebounds per game while shooting just under 50 percent from the field.
He played the last two seasons with the Charlotte Bobcats.
Voskuhl was originally a second-round draft choice of the Chicago Bulls in 2000 and played one season with Chicago. He was traded to Phoenix for Soumaila Samake and a 2003 second-round pick prior to the 2001-02 season, playing four seasons for the Suns before he was traded to Charlotte.