This is a paid asset, but now you can download Voxel Importer Free.
Detail this asset from Unity Store: Original Link
Voxel Importer v1.1.12p1
Voxel Importer v1.1.11
Voxel Importer v1.1.6
“If possible, please buy the package to support the developer”
Unity 2020.1 Ready
URP and HDRP Ready (Unity 2019.3 or later)
Import “MagicaVoxel”, “Qubicle” and Pixel art.
Animation your voxel character!
– Skinned Animation support (Create skinned mesh)
– Frame Animation support (Swap mesh engine)
– Mecanim Humanoid support
– ScriptedImporter support
– Optimize low poly mesh
– Collada Exporter
– The source code is all C#
– All source code is included