Aminoacetonitrile has been detected in the interstellar medium, and the Strecker-type synthesis is considered as one of its possible formation mechanisms in this medium. Methyleneaminoacetonitrile (CH2NCH2CN, MAAN) is one of the by-products of the Strecker reaction and a good candidate for astrophysical detection. Aims. The rotational spectrum of MAAN has never been studied before. To provide the basis for MAAN detection in the interstellar medium we studied its millimeter- and submillimeter-wave spectrum. Methods. The rotational spectrum of MAAN was measured in the frequency range of 120-600 GHz. The spectroscopic study was supported by theoretical calculations of the molecular structure and harmonic force field. Results. The ground- and the two lowest excited vibrational states of the most stable synperiplanar conformation of MAAN were assigned and analyzed. The obtained sets of rotational constants allow us to accurately predict the transition frequencies of MAAN in the frequency range up to 900 GHz.