On the May 10 broadcast Davis and singer Tarralyn Ramsey had to "battle" for a chance to be among the 16 singers by performing a duet of "Single Ladies (Put a Ring on It)." Christina Aguilera, who had chosen both singers to be on her team during the initial audition rounds, had to make the decision whether to advance Davis or Ramsey; the Grammy winner chose Davis.
Three other contestants advanced to the live singing competition during the May 10 program.
Other celebrity judges on "The Voice" include Cee Lo Green, Adam Levine and Blake Shelton.
A finalist on the second season of "Idol," Davis has starred on Broadway in Rent and in tours of Dreamgirls; Sing, Mahalia, Sing; and Ain't Misbehavin'. She also played the Fairy Godmother in Cinderella at Berkeley Playhouse.
The next episode of "The Voice" will air May 17 at 10 PM ET on NBC. Carson Daly hosts.