We give a new characterisation of virtually free groups using graph minors. Namely, we prove that a finitely generated, infinite group is virtually free if and only if for any finite generating set, the corresponding Cayley graph is minor excluded. This answers a question of Ostrovskii and Rosenthal. The proof relies on showing that a finitely generated group that is minor excluded with respect to every finite generating set is accessible, using a graph-theoretic characterisation of accessibility due to Thomassen and Woess.