Simple and understandable are two different things. The easiest circuit I know would be to use a LM431 precision zener. This is a three lead device that is adjustable from 2.5V up to about 36V, but this is a little bit of an oddball use. The reference pin is connected to a voltage divider calculated to give 2.5V at the voltage you want the timer to turn off at. The amplified zener conduction will never drop much below 2.5V but this wouldn't be a problem 1f you were monitoring a 12V battery and the relay only had 10V on it. So simple is two resistors, a relay, and a LM431. The relay can turn on something as a simple clock (as long as you look at it at least twice a day). If your voltage is very low, you will need to use an op amp. There are some voltage monitor relays.