Legal structure for your group
You have said that your organisation will have members, will not be charitable, will be led by volunteers and will not be incorporated.
A possible legal structure for you is:
Unincorporated association
An unincorporated association is a group run by and for its members. Many community groups have this structure. It is quick and easy to set up. To set up an unincorporated association, all you need to do is write and agree a constitution with your group. You do not need to register with anybody.
Your route so far:
Voting members? Yes. Charitable? No. Incorporated? No. Paid staff in charge? No.