Inferring the network topology from dynamical observations is a fundamental problem pervading research on complex systems. Here, we present a simple, direct method for inferring the structural connection topology of a network, given an observation of one collective dynamical trajectory. The general theoretical framework is applicable to arbitrary network dynamical systems described by ordinary differential equations. No interference (external driving) is required and the type of dynamics is hardly restricted in any way. In particular, the observed dynamics may be arbitrarily complex; stationary, invariant or transient; synchronous or asynchronous and chaotic or periodic. Presupposing a knowledge of the functional form of the dynamical units and of the coupling functions between them, we present an analytical solution to the inverse problem of finding the network topology from observing a time series of state variables only. Robust reconstruction is achieved in any sufficiently long generic observation of the system. We extend our method to simultaneously reconstructing both the entire network topology and all parameters appearing linear in the system's equations of motion. Reconstruction of network topology and system parameters is viable even in the presence of external noise that distorts the original dynamics substantially. The method provides a conceptually new step towards reconstructing a variety of real-world networks, including gene and protein interaction networks and neuronal circuits.