As more distributed energy resources (DERs) such as PV generation, batteries and electrical vehicles are installed in the distribution grid, controlling the voltage to be within allowed limits is becoming a major challenge. A possible solution is to actively use the active and reactive power control capabilities of these DERs to keep the voltage within limits. For this purpose, new control algorithms have to be developed that are able to coordinate the DERs and allow them to participate in voltage control. In this perspective, this paper presents a novel voltage control algorithm, based on peer-to-peer control and gossiping communication. The proposed algorithm is able to operate in a distributed manner, with no central coordinator, thereby keeping all control local and eliminating any single point of failure. The algorithm can be executed asynchronously, with limited data exchange between the agents. A case study is presented, showing the ability of the proposed control algorithm to follow rapidly changing load profiles as encountered in the distribution grid, thereby keeping the voltage within tight limits.