The Vainshtein mechanism, present in many models of gravity, is very
effective at screening dark matter halos such that the fifth force is
negligible and general relativity is recovered within their Vainshtein radii.
Vainshtein screening is independent of halo mass and environment, in contrast
to e.g. chameleon screening, making it difficult to test. We therefore
investigate whether cosmic voids, identified as local density minima using a
watershed technique, can be used to test models of gravity that exhibit
Vainshtein screening. We measure density, velocity, and screening profiles of
stacked voids in cosmological $N$-body simulations using both dark matter
particles and dark matter halos as tracers of the density field. We find that
the voids are completely unscreened, and the tangential velocity and velocity
dispersion profiles of stacked voids show a clear deviation from $\Lambda$CDM
at all radii. Voids have the potential to provide a powerful test of gravity on
cosmological scales.