We present a framework based on neural networks to extract music scores directly from polyphonic audio in an end-to-end fashion. Most previous Automatic Music Transcription (AMT) methods seek a piano-roll representation of the pitches, that can be further transformed into a score by incorporating tempo estimation, beat tracking, key estimation or rhythm quantization. Unlike these methods, our approach generates music notation directly from the input audio in a single stage. For this, we use a Convolutional Recurrent Neural Network (CRNN) with Connectionist Temporal Classification (CTC) loss function which does not require annotated alignments of audio frames with the score rhythmic information. We trained our model using as input Haydn, Mozart, and Beethoven string quartets and Bach chorales synthesized with different tempos and expressive performances. The output is a textual representation of four-voice music scores based on **kern format. Although the proposed approach is evaluated in a simplified scenario, results show that this model can learn to transcribe scores directly from audio signals, opening a promising avenue towards complete AMT.