Romaji:

koe ga [bad word] 
nakiyanda sora ni hibiku koe ga
kokoro no mato inuita

kimi ga ita natsu
oikake fuyu no owari o yuku
michibiite [bad word] no wa
ano hi kikoeta kimi no kotoba

fubuki no nioi
baion ni mazatta koushuha

omoide wa takusan [bad word] kedo
furimukeba sore dake okurete shimai sou dakara
yamikumo ni sono michi wo susu n' da
asu wo inori nagara

kagirinai hateshinai kakegaenai yume ni
 [bad word] no wa [bad word] yasei na n' da
ATE no nai kazaranai sukui no nai hibi o
 [bad word] 
bokura wa tabi no kodomo dakara

 [bad word] no ka
nanika kara [bad word] no ka
(owarinaki sekai)
itsuka tadoritsuita toki
yume no tsuzuki ga [bad word] darou

kawaranai osorenai bokutachi no tsuyosa
zetsubou kara no hajimari te ni [bad word] kara
wasurenai ubaenai tooi hi no kioku
chiisa na hone ga [bad word] shippo

kagirinai hateshinai kakegaenai yume ni
 [bad word] no wa [bad word] yasei na n' da
choujou noboritsumeta KURAIMAA no you ni
shifuku no basho e itsuka tadoritsukitai
 [bad word] 
bokura wa tabi no kodomo dakara

koe ga [bad word] 
nakiyanda sora no kanata de
kimi ga [bad word] 

English translation:

I hear a voice.
voice, resounding through the sky that stopped crying.
It has shot through the target of my heart.

Chasing the summer I spent with you,
I pass through the end of winter.
The words I heard from you that day
Are guiding me.

The smell of a snow storm,
High frequencies mixed in a harmony.

There's more than enough memories, but
If I turned around, I could lose just as much.
So I recklessly went down that road,
Praying for tomorrow.

The wild sleeping within is driving us
To the eternal, endless, irreplaceable dream.
The aimless, simple, helpless days,
We keep walking through them,
Because we are the children of the journey.

So you're guided?
Do you [bad word] from something?
(The endless world)
Someday, when you've reached your destination,
You'll be able to see the rest of your dream.

Unchanging, fearless, our strength,
We had it since the first time of despair.
Unforgettable, inseparable, memories of the distant days,
tail with a small bone left. [1]

The wild sleeping within is driving us
To the eternal, endless, irreplaceable dream.
Like a climber ascending to the summit,
I want to reach someday the place of beatitude.
So let's keep on walking,
Because we are the children of the journey.

I hear a voice,
From beyond the sky that stopped crying.
I am waiting for you.

[1] Probably a reference to the vestigial tail in humans