Although voxel models have been applied to address diverse problems in computer-aided design processes, their role in multi-domain data integration in digital architecture and planning has not been extensively studied. The primary objective of this study is to map the current state of the art and to identify open questions concerning data structuring, integration, and modeling and design of multi-scale objects and systems in architecture. Focus is placed on types of voxel models that are linked with computer-aided design models. This study utilizes a semi-systematic literature review methodology that combines scoping and narrative methodology to examine different types and uses of voxel models. This is done across a range of disciplines, including architecture, spatial planning, computer vision, geomatics, geosciences, manufacturing, and mechanical and civil engineering. Voxel-model applications can be found in studies addressing generative design, geomatics, material science and computational morphogenesis. A targeted convergence of these approaches can lead to integrative, holistic, data-driven design approaches. We present (1) a summary and systematization of the research results reported in the literature in a novel manner, (2) the identification of research gaps concerning voxel-based data structures for multi-domain and trans-scalar data integration in architectural design and urban planning, and (3) any further research questions.