This Bible contradiction is from the Skeptic's Annotated Bible.
Yes, they heard the voice.
Acts 9:7 View context
And the men which journeyed with him stood speechless, hearing a voice, but seeing no man.
No, they didn't hear the voice.
Acts.22:9 View context
And they that were with me saw indeed the light, and were afraid; but they heard not the voice of him that spake to me.