how to turn off my voice texting auto send on iPhone?

Hi Alleelee

welcome to the Apple (user-to-user) Community!

Re: 'I would like to know how to turn off my voice texting auto send we just sent it without asking send or cancel'

Wondering which iOS version is installed on your iPhone.

Were you using Siri when you created the voice texting ?

This seems to be the only auto send for Messages:

Go to Settings  > Siri & Search > Automatically Send Messages, then turn off Automatically Send Messages.

Else:

Apple support's article for the Messages app below is for iOS 17.

(Else: For accuracy, please choose your iOS version at the top of the article)

Wondering if instead of tapping  to pause or end your recording,

... may have accidentally tapped

to send it, without ending it first.

More info: Send and receive audio messages on iPhone - Apple Support

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There is a safeguard you might want to use for future messages:

In iOS 16 and iOS 17: You can undo a recently sent message for up to 2 minutes after sending it.

1. Open the Messages app on your iPhone.
2. Touch and hold the message bubble, then tap Undo Send.
3. A note confirming that you unsent the message appears in both conversation transcripts: yours and your recipient’s.

Unsending removes the message from your recipient’s device.

More info.: Unsend and edit messages on iPhone - Apple Support

All the best :-)