In this paper, we propose a joint training approach to voice activity detection (VAD) to address the issue of performance degradation due to unseen noise conditions. Two key techniques are integrated into this deep neural network (DNN) based VAD framework. First, a regression DNN is trained to map the noisy to clean speech features similar to DNN-based speech enhancement. Second, the VAD part to discriminate speech against noise backgrounds is also a DNN trained with a large amount of diversified noisy data synthesized by a wide range of additive noise types. By stacking the classification DNN on top of the enhancement DNN, this integrated DNN can be jointly trained to perform VAD. The feature mapping DNN serves as a noise normalization module aiming at explicitly generating the “clean” features which are easier to be correctly recognized by the following classification DNN. Our experiment results demonstrate the proposed noise-universal DNN-based VAD algorithm achieves a good generalization capacity to unseen noises, and the jointly trained DNNs consistently and significantly outperform the conventional classification-based DNN for all the noise types and signal-to-noise levels tested.