Dear student,
Voluntary action is controlled by persons own will and reflex action is a sudden response which happen suddenly without the conscious action.
Voluntary action takes place when cerebral cortex sends signal to effect through spinal cord and reflex action is controlled by the spinal cord itself.
Reflex actions are rapid automatic response to a stimulus without the conscious involvement of the brain.
E.g.: Withdrawing the hand from a hot object.
Involuntary actions are controlled by the brain but not by our conscious thinking.
E.g.: Beating of the heart, peristaltic movement of the intestines.
Regards