We present a simple empirical function for the average density profile of cosmic voids, identified via the watershed technique in $Lambda$CDM N-body simulations. This function is universal across void size and redshift, accurately describing a large radial range of scales around void centers with only two free parameters. In analogy to halo density profiles, these parameters describe the scale radius and the central density of voids. While we initially start with a more general four-parameter model, we find two of its parameters to be redundant, as they follow linear trends with the scale radius in two distinct regimes of the void sample, separated by its compensation scale. Assuming linear theory, we derive an analytic formula for the velocity profile of voids and find an excellent agreement with the numerical data as well. In our companion paper [Sutter et al., Mon. Not. R. Astron. Soc. 442, 462 (2014)] the presented density profile is shown to be universal even across tracer type, properly describing voids defined in halo and galaxy distributions of varying sparsity, allowing us to relate various void populations by simple rescalings. This provides a powerful framework to match theory and simulations with observational data, opening up promising perspectives to constrain competing models of cosmology and gravity.
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