I hate walking in a room and hearing my father's voice and his condescending speeches
I don't like the way you're talking about your dad. Why have you gotten so upset about his voice?
I hate it how he always talks to me in a rude voice
Your father wants what is best for you. It is wrong for you to be upset with him because of his voice.
He is one of those people who just talk with others only to demean and shame them.
I can see why you hate hearing his speeches if he's only being condescending to you. He may not mean to do this though. Have you tried bringing it to his attention, and telling him how it makes you feel?