We use lattice QCD to fully determine the CKM matrix. |Vcd|, |Vcs|, |Vub|, |Vcb| and |Vus| are, respectively, directly determined with our lattice results for form factors of semileptonic D → πlν, D → Klν, B → πlν, B → Dlν and K → πlν decays. The accuracy is comparable to that of the Particle Data Group averages. In addition, |Vud|, |Vtb|, |Vts| and |Vtd| are determined by using unitarity of the CKM matrix and the experimental result for sin (2β). In this way, we obtain all 9 CKM matrix elements, where the only theoretical input is lattice QCD.