With the development of earth observation technology, massive amounts of remote sensing (RS) images are acquired. To find useful information from these images, cross-modal RS image-voice retrieval provides a new insight. This paper aims to study the task of RS image-voice retrieval so as to search effective information from massive amounts of RS data. Existing methods for RS image-voice retrieval rely primarily on the pairwise relationship to narrow the heterogeneous semantic gap between images and voices. However, apart from the pairwise relationship included in the datasets, the intra-modality and non-paired inter-modality relationships should also be taken into account simultaneously, since the semantic consistency among non-paired representations plays an important role in the RS image-voice retrieval task. Inspired by this, a semantics-consistent representation learning (SCRL) method is proposed for RS image-voice retrieval. The main novelty is that the proposed method takes the pairwise, intra-modality, and non-paired inter-modality relationships into account simultaneously, thereby improving the semantic consistency of the learned representations for the RS image-voice retrieval. The proposed SCRL method consists of two main steps: 1) semantics encoding and 2) semantics-consistent representation learning. Firstly, an image encoding network is adopted to extract high-level image features with a transfer learning strategy, and a voice encoding network with dilated convolution is devised to obtain high-level voice features. Secondly, a consistent representation space is conducted by modeling the three kinds of relationships to narrow the heterogeneous semantic gap and learn semantics-consistent representations across two modalities. Extensive experimental results on three challenging RS image-voice datasets show the effectiveness of the proposed method.