The storyline centers on a time-travelling 20th-century doctor (Claire Randall Fraser) and her 18th-century Scottish husband (Jamie Fraser), and is set in Scotland, West Indies, France, and America.
The heroine of the bestselling Outlander, Claire, returns in Voyager as a mother to Brianna Ellen Randall and living in Boston in the year 1968. The preceding novel, Dragonfly in Amber, ended with Claire and Brianna coming to grips with the truth of the identity of Brianna's real father, Jamie Fraser, and Claire's travel through time. In Voyager, Claire and Brianna trace Jamie's life since the battle of Culloden during the Scottish Rising. Discovering Jamie survived the massacre that heralded the destruction of many clans in Scotland sends Claire back to the stone circle that first hurtled her through time - twenty years before.