Yes, VoIP phones have good call quality. There have been countless improvements in the world of VoIP, and the old walkie-talkie types of connections are nowhere to be seen now.
Nowadays, VoIP uses more advanced and productive technology to enable you to make and receive calls with HD quality. This quality mainly depends on bandwidth, equipment used, phone frequencies, weather conditions, setup location, router, and the codec used.
These are the main aspects that determine the quality of your VoIP calls. The quality of the codec and the router used might improve the voice quality of the phones.