Results from a study of automatic aurora classification using machine learning techniques are presented. The aurora is the manifestation of physical phenomena in the ionosphere magnetosphere environment. Automatic classification of millions of auroral images from the Arctic and Antarctic is therefore an attractive tool for developing auroral statistics and for supporting scientists to study auroral images in an objective, organized and repeatable manner. Although previous studies have presented tools for detecting aurora, there has been a lack of tools for classifying aurora into subclasses with a high precision (>90%). This work considers seven auroral subclasses; breakup, colored, arcs-bands, discrete, patchy, edge and clear-faint. Five different deep neural network architectures have been tested along with the well known classification methods; k nearest neighbor (KNN) and support vector machine (SVM). A set of clean nighttime color auroral images, without ambiguous auroral forms, moonlight, twilight, clouds etc., were used for training and testing. The deep neural networks generally outperformed the KNN and SVM methods, and the ResNet-50 architecture achieved the highest performance with an average classification precision of 92%. Although the results indicate that high precision aurora classification is an attainable objective using deep neural networks, it is stressed that a common consensus of the auroral morphology and the criteria for each class needs.The authors would like to thank Urban Brändström and the Swedish Institute of Space Physics for providing the original auroral image data. The image data archive is freely accessible at http://www2.irf.se/allsky/data.html, however, the users are obliged to contact the Kiruna Atmospheric and Geophysical Observatory before usage