© 2020, The Author(s). Computer-assisted analysis of dental radiograph in dentistry is getting increasing attention from the researchers in recent years. This is mainly because it can successfully reduce human-made error due to stress, fatigue or lack of experience. Furthermore, it reduces diagnosis time and thus, improves overall efficiency and accuracy of dental care system. An automatic teeth recognition model is proposed here using residual network-based faster R-CNN technique. The detection result obtained from faster R-CNN is further refined by using a candidate optimization technique that evaluates both positional relationship and confidence score of the candidates. It achieves 0.974 and 0.981 mAPs for ResNet-50 and ResNet-101, respectively with faster R-CNN technique. The optimization technique further improves the results i.e. F1 score improves from 0.978 to 0.982 for ResNet-101. These results verify the proposed method’s ability to recognize teeth with high degree of accuracy. To test the feasibility and robustness of the model, a tenfold cross validation (CV) is presented in this paper. The result of tenfold CV effectively verifies the robustness of the model as the average F1 score obtained is more than 0.970. Thus, the proposed model can be used as a useful and reliable tool to assist dental care professionals in dentistry.