No, Hyrule Warriors doesn’t actually have traditional voice acting. What it does do that no other Zelda game before has done is provide voiced narration. Let me step back a bit: It’s not really a Zelda game at all, but for what it is involving Zelda lore, worlds, and characters, it makes me personally feel like it’s time to explore this in the main series.
I understand many of the valid arguments against voice acting. There is a real fear, for the most part, that it will be terrible – a Metroid: Other M type of terrible, and naturally if that is the alternative… we would rather stick with text boxes. Except that doesn’t have to be the alternative. Now, you may not like the narration voice/tone in Hyrule Warriors (I do like it), but it’s really adding something to the experience that the cut scenes themselves don’t have. A type of impact emotionally to me as a player – a sort “taking me into the world” that the cutscenes break me away from, simply because I have to read text boxes.