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Voice biometrics is drawing increasing attention to user authentication on smart devices. However, voice biometrics is vulnerable to replay attacks, where adversaries try to spoof voice authentication systems using pre-recorded voice samples collected from genuine users. To this end, we propose VoiceGesture, a liveness detection solution for voice authentication on smart devices such as smartphones and smart speakers. With audio hardware advances on smart devices, VoiceGesture leverages built-in speaker and microphone pairs on smart devices as Doppler Radar to sense articulatory gestures for liveness detection during voice authentication. The experiments with 21 participants and different smart devices show that VoiceGesture achieves over 99% and around 98% detection accuracy for text-dependent and text-independent liveness detection, respectively. Moreover, VoiceGesture is robust to different device placements, low audio sampling frequency, and supports medium range liveness detection on smart speakers in various use scenarios, including smart homes and smart vehicles.