We present a detailed investigation of the behavior of the nonlinear q-voter model for opinion dynamics. At the mean-field level we derive analytically, for any value of the number q of agents involved in the elementary update, the phase diagram, the exit probability and the consensus time at the transition point. The mean-field formalism is extended to the case that the interaction pattern is given by generic heterogeneous networks. We finally discuss the case of random regular networks and compare analytical results with simulations.