John Gill Commentary Psalms 18:6

"In my distress I called upon Jehovah, And cried unto my God: He heard my voice out of his temple, And my cry before him came into his ears." — Psalms 18:6 (ASV)

In my distress I called upon the Lord
The great Jehovah, the everlasting I AM, who is the most High in all the earth, and who is able to save, (Hebrews 5:7);

and cried unto my God;
as Jesus did, (Matthew 27:46); so the members of Christ, when in distress, as they often are, through sin and Satan, through the hidings of God's face, a variety of afflictions, and the persecutions of men, betake themselves to the Lord, and call upon their God: a time of distress is a time for prayer; and sometimes the end God has in suffering them to be in distress is to bring them to the throne of his grace; and a great privilege it is they have that they have such a throne to come to for grace and mercy to help them in time of need, and such a God to sympathize with them, and help them; and their encouragement to call upon him, and cry unto him, is, that he is Jehovah, omniscient, omnipotent, and omnipresent; who knows their wants, is able to help them, and is a God at hand to do it;

He heard my voice out of his temple;
that is, out of heaven his dwelling place; for the temple at Jerusalem was not built in David's time; and it may be observed, that the prayer of the psalmist, or whom he represents, was a vocal one, and not merely mental; and hearing it intends a gracious regard unto it, an acceptance of it, and an agreeable answer: for it follows,

and my cry came before him, [even] into his ears;
God did not cover himself with a cloud, that his prayer could not pass through; but it was admitted and received; it came up before him with acceptance; it reached his ears, and even entered into them, and was delightful music to them: see (John 11:41John 11:42) (Hebrews 5:7).