When you miss a call and someone leaves you a message, you can listen to the message whenever you want. If you have a voicemail message, you'll see a badge displayed in your Call History tab that shows the number of pending voice messages that you have.
You can access your voice messages from the dialpad or call history. Choose whichever way you prefer.
Tap , choose Voicemail, select the message you want to listen to, and then tap Play.
You can call the person back from here, just tap Call .