A simple mathematical model for the depletion force between two arbitrarily shaped large convex colloidal particles immersed in a suspension of small spherical particles is proposed. Using differential geometry, the interaction potential is expressed in terms of the mean and Gaussian curvature of the particle surfaces. The accuracy of theoretical results is tested by Monte Carlo simulations for parallel and nonparallel circular cylinders. The agreement between theoretical results and simulated data is very good if the density of the depletion agent is not too high.