We focus on semiparametric regression that has played a central role in statistics, and exploit the powerful learning ability of deep neural networks (DNNs) while enabling statistical inference on parameters of interest that offers interpretability. Despite the success of classical semiparametric method/theory, establishing the $\sqrt{n}$-consistency and asymptotic normality of the finite-dimensional parameter estimator in this context remains challenging, mainly due to nonlinearity and potential tangent space degeneration in DNNs. In this work, we introduce a foundational framework for semiparametric $M$-estimation, leveraging the approximation ability of overparameterized neural networks that circumvent tangent degeneration and align better with training practice nowadays. The optimization properties of general loss functions are analyzed, and the global convergence is guaranteed. Instead of studying the ``ideal'' solution to minimization of an objective function in most literature, we analyze the statistical properties of algorithmic estimators, and establish nonparametric convergence and parametric asymptotic normality for a broad class of loss functions. These results hold without assuming the boundedness of the network output and even when the true function lies outside the specified function space. To illustrate the applicability of the framework, we also provide examples from regression and classification, and the numerical experiments provide empirical support to the theoretical findings.