Mercury's magnetopause is unique in the solar system due to its relatively small size and its close proximity to the Sun. Based on 3 years of MESSENGER orbital Magnetometer and the Fast Imaging Plasma Spectrometer data, the mean magnetopause location was determined for a total of 5694 passes. We fit these magnetopause locations to a three-dimensional non-axially symmetric magnetopause which includes an indentation for the cusp region that has been successfully applied to the Earth. Our model predicts that Mercury's magnetopause is highly indented surrounding the cusp with central depth ~0.64 RM and large dayside extension. The dayside polar magnetopause dimension is, thus, smaller than the equatorial magnetopause dimension. Cross sections of the dayside magnetopause in planes perpendicular to the Mercury-Sun line are prolate and elongated along the dawn-dusk direction. In contrast, the magnetopause downstream of the terminator plane is larger in the north–south than the east–west directions by a ratio of 2.6 RM to 2.2 RM at a distance of 1.5 RM downstream of Mercury. Due to the northward offset of the internal dipole, the model predicts that solar wind has direct access to the surface of Mercury at middle magnetic latitudes in the southern hemisphere. During extremely high solar wind pressure conditions, the northern hemisphere middle magnetic latitudes may also be subject to direct solar wind impact.