An underwater universal filtered multicarrier (UFMC)-based voice transmission scheme is proposed using a 512-point inverse discrete Fourier transform, utilizing 10 sub-bands, and that each had 20 subcarriers. In this proposed UFMC method, the adaptive modulation technologies with 4 quadrature amplitude modulation (QAM), 16-QAM, and low-density parity-check (LDPC) channel coding were integrated. Additionally, the bit error rate (BER), transmission power weighting, the ratios of power-saving, and underwater voice transmission performance with perfect channel estimation (PCE), and 5% and 10% channel estimation errors (CEEs) were investigated. The underwater voice transmission had a BER quality of service 10−3. Simulation results showed that the PCE outperformed 5% and 10% CEEs, under 4-QAM, with gains of 0.5 and 0.9 dB, respectively, and a BER of 4×10−4. The PCE outperformed 5% and 10% CEEs, under 16-QAM, with gains of 0.5 and 2.4 dB, respectively, and a BER of 8.5×10−4. The proposed UFMC scheme can be applied to underwater voice transmission with a BER below 10−3 The proposed system showed a superior capability to contend with additive white Gaussian noise, underwater multipath channel fading, and CEEs.