In this bulletin, we propose and detail a comprehensive theory and numerical implementation of a six degree of freedom (6‐DOF) dynamic AUV model utilizing CFD and first principles, providing a systematic approach to accurately estimate all parameters required for maneuvering. Possible simplifications and methodologies for different AUV profiles are covered, rendering the study applicable to any torpedo‐profiled underwater vehicle that uses control surfaces to maneuver. Potential redundancies between added‐Coriolis and hydrodynamic damping terms in the literature are also clarified in this study. Coordinate systems are discussed, and the physical implementation of control‐commands (for roll, pitch, and yaw) onto various sets of control surfaces is detailed. The implementation of all hydrodynamic terms is then covered, followed by coefficient estimation using CFD Planar Motion Mechanism tests and other methods. A final nonlinear 6‐DoF model is presented both with and without feedback, for which model performance is evaluated using a known AUV and a fully‐conceptual AUV. This bulletin is intended to serve as a complete guide to control and simulate any AUV to a high degree of accuracy..