The characterisation of cosmic voids gives unique information about the large-scale distribution of galaxies, their evolution, and thecosmological model. Aims: We identify and characterise cosmic voids in the VIMOS Public Extragalactic Redshift Survey (VIPERS) at redshift 0.55 Methods: A new void search method is developed based upon the identification of empty spheres that fit between galaxies. The method can be used to characterise the cosmic voids despite the presence of complex survey boundaries and internal gaps. We investigate the impact of systematic observational effects and validate the method against mock catalogues. We measure the void size distribution and the void-galaxy correlation function. Results: We construct a catalogue of voids in VIPERS. The distribution of voids is found to agree well with the distribution of voids found in mock catalogues. The void-galaxy correlation function shows indications of outflow velocity from the voids.