Context. Planetary resonances are a common dynamical mechanism acting on planetary systems. However, no general model for describing their properties exists, particularly for commensurabilities of any order and arbitrary eccentricity and inclination values. Aims. We present a semianalytical model that describes the resonance strength, width, location and stability of fixed points, and periods of small-amplitude librations. The model is valid for any two gravitationally interacting massive bodies, and is thus applicable to planets around single or binary stars. Methods. Using a theoretical framework in the Poincaré and Jacobi reference system, we developed a semianalytical method that employs a numerical evaluation of the averaged resonant disturbing function. Validations of the model are presented that compare its predictions with dynamical maps for real and fictitious systems. Results. The model describes many dynamical features of planetary resonances very well. Notwithstanding the good agreement found in all cases, a small deviation is noted in the location of the resonance centers for circumbinary systems. As a consequence of its application to the HD 31527 system, we found that the updated best-fit solution leads to a high-eccentricity stable libration between the middle and outer planets inside the 16/3 mean-motion resonance (MMR). This is the first planetary system whose long-term dynamics appears dominated by such a high-order commensurability. In the case of circumbinary planets, the overlap of N/1 mean-motion resonances coincides very well with the size of the global chaotic region close to the binary, as well as its dependence on the mutual inclination.