From Dragon Ball Encyclopedia, the ''Dragon Ball'' wiki
The Voonians (ズン星人, Zun-seijin) are a race from Planet Voon.
Nothing much is said about the Voonians other than the fact that they originated from Planet Voon, where Babidi had transported Puipui and Vegeta to during their battle. The only member of this race we see in the series is Puipui, one of Babidi's minions.
Babidi's footsoldiers wear uniforms very similar to Puipui's Voonian outfit, therefore they may be of the same race.