OD Easy MagicaVoxels allows you to import .vox files exported from MagicaVoxels (https://ephtracy.github.io). This is a generic Layout plugin as well as a Modeler plugin:

Options:

• Vox File: Select the .vox file generated by MagicaVoxels
• Block Type: Defines what kind of object will be created for each voxel
• Cube Scale: Defines the scale of each voxel
• Keep Intermediate OBJ : This option, in addition to the .lwo object will also keep an .obj file

Here's a how-to video showing OD Easy MagicVoxels in action.