Fifth-generation (5G) requires a highly accurate estimate of the channel state information (CSI) to exploit the benefits of massive multiple-input-multiple-output (MaMIMO) systems. 5G systems use pilot sequences to estimate channel behaviour using traditional methods like least squares (LS), or minimum mean square error (MMSE) estimation. However, traditional methods do not always obtain reliable estimations: LS exhibits a poor estimation when inadequate channel conditions (i.e., low-signal-to-noise ratio (SNR) region) and MMSE requires prior statistical knowledge of the channel and noise (complex to implement in practice). We present a deep learning framework based on deep neural networks (DNNs) for 5G MaMIMO channel estimation. After a first preliminary model with which we verify the good estimation capacity of our DNN-based approach, we propose two different models, which differ in the information processed by the DNN and benefit from lower computational complexity or greater flexibility for any reference signal pattern, respectively. The results show that, compared to the LS-based channel estimation, the DNN approach decreases the mean square error (MSE) and the system’s spectral efficiency (SE) increases, especially in the low-SNR region. Our approach provides results close to optimal MMSE estimation but benefits from not requiring any prior channel statistics information.