Derivation of special relativity classically relies on the use of two inertial reference frames separating at a constant velocity, combined with the constancy of the speed of light as a founding definition of simultaneity. Einstein´s original method for derivation provides the general framework in which special relativity is often taught. While this approach is intuitive for students, it is nevertheless confusing in some aspects and lacks clarity in certain steps. Hence, special relativity is very often questioned with paradoxes and apparent mathematical inconsistencies. In most instances, these paradoxes are set up under improper mathematical frameworks, or in systems which are not invariant under coordinate transformations. Here, Minskowski space and special relativity are fully derived from an invariant tensor statement valid in any reference frame, with the simultaneity condition imposed on the 4-dimensional null vector. This approach derives Minkowski space with a very limited number of steps in tensor space without the need of introducing separating inertial reference frames. From it, the main features of special relativity for bradyon and tachyon trajectories are derived. This solution is particularly adequate for students of special and general relativity, as it is simple, straightforward and mathematically consistent.