The high variability of fingerprint data (owing to, e.g., differences in quality, moisture conditions, and scanners) makes the task of minutiae extraction challenging, particularly when approached from a stance that relies on tunable algorithmic components, such as image enhancement. We pose minutiae extraction as a machine learning problem and propose a deep neural network – MENet, for Minutiae Extraction Network – to learn a data-driven representation of minutiae points. By using the existing capabilities of several minutiae extraction algorithms, we establish a voting scheme to construct training data, and so train MENet in an automated fashion on a large dataset for robustness and portability, thus eliminating the need for tedious manual data labelling. We present a post-processing procedure that determines precise minutiae locations from the output of MENet. We show that MENet performs favourably in comparisons against existing minutiae extractors.