Voyage for ships' companies, we hear (6)
I believe the answer is:
cruise
'voyage' is the definition.
(cruise is a kind of voyage)
'ships' companies we hear' is the wordplay.
'ships' companies' becomes 'crews' (I've seen this before).
'we hear' indicates a 'sounds like' (homophone) clue.
'crews' sounds like 'CRUISE'.
'for' acts as a link.
(Other definitions for cruise that I've seen before include "Holiday afloat - Kidman's ex" , "Tour by ship" , "Coast" , "journey" , "Sail smoothly" .)