Yes, it is generally true that our recorded voice sounds different from what we perceive when we speak. When we hear ourselves speak, we not only hear the sound waves that reach our ears externally but also the vibrations conducted through our skull and tissues, which create a different perception of our voice. This internal conduction of sound gives our voice a deeper and richer tone.
However, when we listen to a recording of our voice, we only hear the external sound waves, without the additional resonances from our own body. This can often make our recorded voice sound higher-pitched, thinner, or unfamiliar to us. Many people find it surprising or even uncomfortable to hear their recorded voice for the first time due to this discrepancy.
The difference in perception between our recorded voice and our own perception can be attributed to the way sound is transmitted and received in different contexts.