I believe that this is a doc error in V10 (this was programmed to be but not implemented). The new VoronoiMesh should work for 3D set of points.
The DelaunayMesh function works. Here is a doc example:
pts = RandomReal[{-1, 1}, {25, 3}];
DelaunayMesh[RandomReal[{-1, 1}, {25, 3}]]

But if you try:
pts = RandomReal[{-1, 1}, {25, 3}];
VoronoiMesh[pts]
You get the error:

Docs for Voronoi say:
The cells will be intervals in 1D, convex polygons in 2D, and convex polyhedra in 3D.
Tested in V10.0.0 for Mac and Win.
Meshfunctions rely onTetGenwhich supports 3D voronoi diagrams but somehow this functionality has been omitted. – RunnyKine Jul 15 '14 at 00:02