Former Sydney Swans premiership coach Roos was already deep in discussions last season with Melbourne chief executive Peter Jackson about joining the Demons and Voss said the Lions recognised the urgency of the situation.
The Lions sat at 8-11 when Voss' contract was terminated during the 2013 season.
"Here was a definite play for the club to go after Roosy and he was well down the track for another football club," Voss will say on Fox Footy's Open Mike on Monday night, News Ltd reported.
"The club was very keen to have him on board, and to do that I needed to not be in the position. They made that decision, and I only knew bits and pieces of what was going on."
Last year the Lions denied that a push to chase Roos had led to Voss' demise.
Voss said he was not surprised when the decision to move him on was made, but he is still in the dark about the reasons behind it.
"When I rang my wife that day (I was sacked), it was, 'It’s happened,' as opposed to, 'You will never believe what happened'."
"There was a sense of inevitability. The circumstances (of why I was sacked) are still so vague to me. But I have felt like whether it's success or failure, you have to deal with it and move on."
The Lions saw a mass exodus of some talented young players at the end of last season and Voss said he had foreshadowed the situation arising well before it occurred.
Voss wrote an official report to the club's board asking for more resources to help retain the Lions' young players.
"We had an opportunity in 2012 to ensure we put the right resources around them and we didn’t do it for whatever reason," he said.
"In the report I filed to the executive of the club at the time, I highlighted that if we don't get this right, retention will be a major issue for the club in the very near future."
