Continuous authentication systems have been proposed as a promising solution to authenticate users in smartphones in a non-intrusive way. However, current systems have important weaknesses related to the amount of data or time needed to build precise user profiles, together with high rates of false alerts. Voice is a powerful dimension for identifying subjects but its suitability and importance have not been deeply analyzed regarding its inclusion in continuous authentication systems. This work presents the S3 platform, an artificial intelligence-enabled continuous authentication system that combines data from sensors, applications statistics and voice to authenticate users in smartphones. Experiments have tested the relevance of each kind of data, explored different strategies to combine them, and determined how many days of training are needed to obtain good enough profiles. Results showed that voice is much more relevant than sensors and applications statistics when building a precise authenticating system, and the combination of individual models was the best strategy. Finally, the S3 platform reached a good performance with only five days of use available for training the users’ profiles. As an additional contribution, a dataset with 21 volunteers interacting freely with their smartphones for more than sixty days has been created and made available to the community.