We predict a universal midgap bound state in topological superfluids, induced by either nonmagnetic or magnetic impurities in the strong scattering limit. This universal state is similar to the lowest-energy Caroli-de Gennes-Martricon bound state in a vortex core, but is bound to localized impurities. We argue that the observation of such a universal bound state can be a clear signature for identifying topological superfluids. We theoretically examine our argument for a spin-orbit coupled ultracold atomic Fermi gas trapped in a two-dimensional harmonic potential by performing extensive self-consistent calculations within the mean-field Bogoliubov-de Gennes theory. A realistic scenario for observing a universal bound state in ultracold K-40 atoms is proposed. DOI: 10.1103/PhysRevLett.110.020401