Automatic intersection identification and extraction are an important foundation for urban road network updates and traffic network analysis and modeling. Existing intersection extraction methods based on steering angles and stopping points suffer from inadequate sampling amounts and threshold settings. To address this problem, we propose a road network intersection automatic extraction method based on vehicle trajectory intersection clustering. First, the continuous trajectory segments are extracted from trajectory data based on the sampling interval. Second, the maximum reconstruction error method is developed to extract straight-line trajectory segments from continuous trajectory segments. The overlapped straight-line trajectory segments belonging to the same direction are merged to reduce the number of segments and enhance road network patterns. To further improve the calculation efficiency of the intersection points of straight-line segments, bounding box filtering and orthogonal filtering are used to filter the straight-line trajectory segments that do not have an intersection relationship. Finally, the obtained straight-line segment intersection points are clustered using a density peak clustering algorithm. The road intersections are automatically extracted using the clustering center. The experimental results on real vehicle trajectories in Lianyungang City show that the proposed method performs well on intersection recognition and calculation efficiency.