As of last July, the ability to voice Discord chat only applies to Xbox Insiders.
But now, all console players can connect to Voice chat from your Xbox Series X/S and Xbox One consoles and talk live with your friends using the Xbox mobile app.
“Discord started as a way to bring people together around games, no matter what platform they’re on. Sound on Xbox has become something that users around the world demand, and we’re excited to bring it to everyone with the help of our friends on Xbox,” the company wrote in its announcement.
To start talking to your friends on Xbox, you must first connect your Xbox account to your Discord account.
If you’ve previously linked your Xbox account, you’ll need to reconnect it to grant the new permissions needed to access Voice on your Xbox console.
You’ll find the option to connect your account in User Settings > Connections on desktop, web, or mobile. Select the Xbox logo in the Connections menu and follow the prompts to set things up.