A search for pair production of a scalar partner of the top quark in events with four or more jets plus missing transverse momentum is presented. An analysis of $36.1\,\mathrm{fb}^{-1}$ of $\sqrt{s}=13$ TeV proton-proton collisions collected using the ATLAS detector at the LHC yields no significant excess over the expected Standard Model background. To interpret the results a simplified supersymmetric model is used where the top squark is assumed to decay via $ {\tilde{t}}_1\to {t}^{\left(\ast \right)}{\tilde{\chi}}_1^0$ and ${\tilde{t}}_1\to b{\tilde{\chi}}_1^{\pm}\to b{W}^{\left(\ast \right)}{\tilde{\chi}}_1^0$, where $\tilde{\chi}_1^0$ ($\tilde{\chi}_1^\pm$) denotes the lightest neutralino (chargino). Exclusion limits are placed in terms of the top-squark and neutralino masses. Assuming a branching ratio of 100% to $t{\tilde{\chi}}_1^0$, top-squark masses in the range 450–1000 GeV are excluded for ${\tilde{\chi}}_1^0$ masses below 160 GeV. In the case where $m_{\tilde{t}}\sim m_t+m_{\tilde{\chi}_1^0}$, top-squark masses in the range 235–590 GeV are excluded.