In a food processor or blender, coarsely purée tomatoes, a portion at a time. Pour into a large bowl.
Stir in tomato juice, vinegar, lemon juice, Worcestershire, hot sauce, bell pepper, cucumber, garlic, and cilantro.
Serve soup at room temperature, or nest bowl in ice and stir often until cold, about 15 minutes. Ladle into wide bowls and add shrimp. Season to taste with salt and pepper.