We give formulae for different types of contact distribution functions for stationary (not necessarily Poisson) Voronoi tessellations in ℝd in terms of the Palm void probabilities of the generating point process. Moreover, using the well-known relationship between the linear contact distribution and the chord length distribution we derive a closed form expression for the mean chord length in terms of the two-point Palm distribution and the pair correlation function of the generating point process. The results obtained are specified for Voronoi tessellations generated by Poisson cluster and Gibbsian processes, respectively.