Its really the current thats gets you. But you have to have either enough voltage to push it, or a low enough resistence to allow the current to flow. All 3 relate to each other.
Again, a car battery is a good example. Go out to your car, touch the pos & neg terminals with your hands and you will not get shocked, yet a car battery is capable of putting out hundreds of amps. So why don't you get shocked? Because the voltage is to low. But on the other hand, if you lay a metal bar across the 2 terminals (don't do it), you will get high current flow through the metal bar (arking, heat, etc) because the resistence is almost zero in the metal bar. If you could gradually lower your resistence while touching the post, or gradually raise the battery voltage, you would eventually start feeling a tingle increase more and more.

The Golden Rule - "The man with the gold makes the rule"