The development, training and evaluation of computer vision algorithms rely on the availability of a large number of images. The acquisition of these images can be time-consuming if they are recorded using real sensors. An alternative is to rely on synthetic images which can be rapidly generated. This Letter describes a novel method for the simulation of Kinect v1 depth images. The method is based on an existing empirical noise model from the literature. The authors show that their relatively simple method is able to provide depth images which have a high similarity with real depth images.