We introduce VoxRAG, a modular speech-to-speech retrieval-augmented generation system that bypasses transcription to retrieve semantically relevant audio segments directly from spoken queries. VoxRAG employs silence-aware segmentation, speaker diarization, CLAP audio embeddings, and FAISS retrieval using L2-normalized cosine similarity. We construct a 50-query test set recorded as spoken input by a native English speaker. Retrieval quality was evaluated using LLM-as-a-judge annotations. For very relevant segments, cosine similarity achieved a Recall@10 of 0.34. For somewhat relevant segments, Recall@10 rose to 0.60 and nDCG@10 to 0.27, highlighting strong topical alignment. Answer quality was judged on a 0–2 scale across relevance, accuracy, completeness, and precision, with mean scores of 0.84, 0.58, 0.56, and 0.46 respectively. While precision and retrieval quality remain key limitations, VoxRAG shows that transcription-free speech-to-speech retrieval is feasible in RAG systems.