Wellington District Commander Sam Hoyle said assault can be a real risk for people working in the sex industry.
"Everybody has the right to be safe and feel safe at work, whatever you do... it's a basic tenet of human rights."
He said they had a role to play, as police, to allow people who work in the sex industry to feel supported coming forward.
He said it could be seen as a "big scary system" from the outside.
Dame Catherine Healy, the Prostitutes' Collective National Co-ordinator, said sex workers often angst about whether to step up and come out about sexual violence and assault.
"It's always a moment where you have to assess a lot of risks that other people don't have to necessarily.
"It's to do with stigma, will I be judged as a sex worker? How will I be received? Will I be told off for putting myself at risk... all of those stand as a barrier for coming forward."
Healy said it meant a lot for sex workers and also sent a message internationally that New Zealand plays a significant role for the human rights of sex workers.
She said it was an "unique" co-branding of the two organisations and it would be a world-first.
The pamphlet will be available across the country and online for anyone in the sex industry.
