When we hear someone speak, we do not just hear ‘a voice’. If the voice is unfamiliar, we form an often complex first impression by inferring various characteristics about the person. If the voice is familiar, at least to some degree, we may be able to recognise and identify the person to whom the voice belongs. Even though first impression formation and identity recognition can thus be seen as being situatied at two opposing ends of a ‘familiarity continuum’, first impressions and identity recognition functionally serve the same purpose: making sense of who another person is. Theories and empirical work examining impression formation and identity perception from voices have, however, developed largely in isolation from one another, with relatively limited cross-talk. In this paper, I will review some recent findings from the literature on first impression formation from unfamiliar voices and voice identity learning and recognition from familiar(ised) voices. I will ask how impression perception and identity perception may interact and interface with one another along this ‘familiarity continuum’ between completely unfamiliar and very familiar voices, trying to bring together these two literatures. Specifically, I will consider what happens to first impressions when we become increasingly familiar with a person, whether first impressions might have an impact on how (well) voices can be learned and recognised, and when and how identity recognition might take over from ad-hoc impression formation.