if any of Bitcoin core developers decide to maliciously change Bitcoin code without miners' consensus/voting
As @pooya87 already said, the change has to be approved by a certain majority, quite a big one. And it's clearly not only the miners.
If that doesn't happen, a split/fork will go on and the majority will remain on the unchanged version's chain.
The rogue dev will have his own altcoin.
can potentially make an unauthorized significant change in the Bitcoin code that will become effective immediately
Not all the changes the devs make actually end up in a release. So there's already one filter there. Then a release has to be made and published so people will update their client. Some will also check the code and if something is strange they'll make enough noise others will not update. And such a change has to be scheduled to get live after some time, else the older clients will not accept it, resulting in a split (when such a new client's miner mines a block), altcoin.. you know the drill.
So you should not worry that much.