Maternal exposure to environmental contaminants is a predisposing factor for neurodevelopmental disorders with associated cognitive and social deficits in offspring. In this study, we investigated the effects of maternal exposure to selenium (Se), a contaminant of potential environmental concern in aquatic ecosystems, on cognitive performance and the underlying mechanisms in F1-generation adult zebrafish. Adult female zebrafish were exposed to different concentrations of dietary Se (3.5, 11.1, or 27.4 μg Se/g dry weight) for a period of 60 days. Fish were subsequently bred, and their offspring were collected and raised for 6 months on a normal diet. Maternal exposure to all concentrations of dietary Se induced learning impairment in F1-zebrafish tested in a latent learning task. The results also showed a hyperfunctioning dopaminergic system in fish exhibiting the learning deficit. The hyperfunction of the dopaminergic system was associated with enhanced oxidative stress and alterations in the mRNA abundance of several immediate early and late response genes in the zebrafish brain. Taken together, these results suggest that maternal exposure to dietary Se via alterations in the dopaminergic system leads to persistent neurobehavioral deficits in F1-generation adult zebrafish.