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Taylor--Couette (TC) flow is the shear-driven flow between two coaxial independently rotating cylinders. In recent years, high-fidelity simulations and experiments revealed the shape of the streamwise and angular velocity profiles up to very high Reynolds numbers. However, due to curvature effects, so far no theory has been able to correctly describe the turbulent streamwise velocity profile for given radius ratio, as the classical Prandtl--von Kármán logarithmic law for turbulent boundary layers over a flat surface at most fits in a limited spatial region. Here we address this deficiency by applying the idea of a Monin--Obukhov curvature length to turbulent TC flow. This length separates the flow regions where the production of turbulent kinetic energy is governed by pure shear from that where it acts in combination with the curvature of the streamlines. We demonstrate that for all Reynolds numbers and radius ratios, the mean streamwise and angular velocity profiles collapse according to this separation. We then derive the functional form of the velocity profile. Finally, we match the newly derived angular velocity profile with the constant angular momentum profile at the height of the boundary layer, to obtain the dependence of the torque on the Reynolds number, or, in other words, of the generalized Nusselt number (i.e., the dimensionless angular velocity transport) on the Taylor number.