What was the first game to use voxels?

Could you please elaborate on the history of voxel-based gaming? Specifically, I'm curious to know which game was the pioneer in utilizing voxels as a graphical representation in its design? Was it a game that revolutionized the industry or perhaps a lesser-known title that paved the way for future voxel-heavy titles? I'm eager to learn more about this fascinating aspect of gaming's evolution.