The semileptonic CP asymmetry in B0-B[over ¯]0 mixing, a(sl)(d), is measured in proton-proton collision data, corresponding to an integrated luminosity of 3.0 fb-1, recorded by the LHCb experiment. Semileptonic B0 decays are reconstructed in the inclusive final states D-μ+ and D*-μ+, where the D- meson decays into the K+π-π- final state and the D*- meson into the D[over ¯]0(→K+π-)π- final state. The asymmetry between the numbers of D(*)-μ+ and D(*)+μ- decays is measured as a function of the decay time of the B0 mesons. The CP asymmetry is measured to be a(sl)(d)=(-0.02±0.19±0.30)%, where the first uncertainty is statistical and the second systematic. This is the most precise measurement of a(sl)(d) to date and is consistent with the prediction from the standard model.