"I want every single officer who comes in contact with a survivor and their supporters to just listen, don't judge.
"In the end, it's not the policy and processes that are going to change the culture of police. It's colleagues who pull each other up if someone isn't stepping up to the mark."
The brochures will be displayed prominently in every police station and be given to victims when they report a sexual crime to police.
Police Commissioner Peter Marshall said the brochure was a pledge to victims that they would "receive outstanding service all the way through their process and it states what that process will be throughout the country".
He said Ms Nicholas was a "proactive, knowledgeable and equal partner who shares a common interest with police" in providing victims of sexual assault with "the right degree of support and wraparound service".