Recent measurements of Casimir forces have provided evidence of an intricate modification of quantum fluctuations of the electromagnetic field in complex geometries. Here we introduce a multiple scattering description for Casimir interactions between bodies of arbitrary shape and material composition, admitting an expansion as a sequence of inter- and intra-body wave scatterings. Interactions in complex geometries can be computed within the current experimental resolution from typically a few wave scatterings, notably without any apriori knowledge of the scattering amplitudes of the bodies. Some first applications demonstrate the power of the approach.