Do I have rights

To the extent that there are "rights" to such a voice recording, the rights would be owned by the company. This was specifically intended for commercial use only, just for that company, and they recorded it for that limited purpose. If there were entertainment value you arguably could assert a right to reimbursement. But, you and I both know that if you assert this or any other right personal to you now, they will likely just pull the recordings, re record them and say that you were reimbursed in full through any and all financial compensation that you received during your years of employment.

I've got to believe that if this is a company of any size and status that they had to have had the corporate brains to have slipped an authorization in front of you for your signature before you did the recordings and that you forgot it and it is in a file somewhere. If they didn't have an in house lawyer somewhere earning his keep and insisting that they do this, then they deserve the following: write them a demand letter claiming that they have misappropriated your personal voice for their commercial, profitable gain. Get a lawyer to do it on their firm letterhead. Send it certified mail. The company might cough up a few bucks. But, don't be surprised if its smal change or nothing at all. Hopefully they aren't as smart as you and don't read AVVO.

This answer is provided for informational purposes only. True legal advice can only be provided in an office consultation by an attorney licensed in your jurisdiction and with experience in the area of law in which your concern lies.