We describe a method for calculating the counting statistics of electronic transport through nanoscale devices with both sequential and cotunneling contributions. The method is based upon a perturbative expansion of the von Neumann equation in Liouvillian space, with current cumulants calculated from the resulting nonMarkovian master equation without further approximation. As application, we consider transport through a single quantum dot and discuss the effects of cotunneling on noise and skewness, as well as the properties of various approximation schemes.