Provided are a voice call method, a voice call device and a terminal. The voice call method comprises: after initiating an IP multimedia subsystem (IMS) voice call request, determining whether a single radio voice call continuity (SRVCC) call transfer command has been received; if it is determined that the SRVCC call transfer command has been received, switching to a 3G network or a 2G network; determining, according to the SRVCC call transfer command, whether configuration information of a current cell supports a circuit switching domain (CS) service; if a determination result indicates support of the CS service, directly making a CS voice call, otherwise initiating an LAU procedure, a location registration procedure, in the current cell. The technical solution of the invention solves a problem in which after switching to a 3G or 2G network from a 4G network due to an SRVCC call transfer, a CS voice call fails because only a PS service is supported, thereby increasing a call success rate, and improving user experience in a voice call process.