Yes, there is. From your homescreen, press menu>settings>call settings>voicemail settings>voicemail number then, after the *86, add ,(your PIN)# So, if your pin is 1111, then the whole string will show: *86,1111# If the comma is not an option, you can use P.
That's strange, it worked on my phone, as well as hearing from others that it works for them. You might try adding some more commas (or P's). Maybe the pause is not long enough.
Try it without the # symbol. Using Demmo's example above to look something like *86,,1111 when you save it. That is what works for me.
I'm most definitely NOT a VZW employee. If a post answered your question, please mark it as the answer.