The aim of this paper is to describe how the Voronoi cell of a lattice changes as that lattice is continuously varied. The usual treatment is simplified by the introduction of new parameters called the vonorms and conorms of the lattice. The present paper deals with dimensions n $\leq $ 3; a sequel will treat four-dimensional lattices. An elegant algorithm is given for the Voronoi reduction of a three-dimensional lattice, leading to a new proof of Voronoi's theorem that every lattice of dimension n $\leq $ 3 is of the first kind, and of Fedorov's classification of the three-dimensional lattices into five types. There is a very simple formula for the determinant of a three-dimensional lattice in terms of its conorms.