The Minotaur will stomp around at random points in the arena. These stomps can be dodged by simply moving out of the way. As he stomps, the Minotaur will also send his arms slamming through the ground. While these can reach long distances, they are narrow enough that you can avoid damage by moving forward or backward.
When the Minotaur slams his arms into the ground, pillars of rock will erupt from the ground around him. These can easily be avoided by simply jumping. Be careful not to jump too high or too early, as the Minotaur will still slam his head down in the arena.
After a series of slams and stomps, the Minotaur will become weary and collapse to his knees. This is your opportunity to attack his back, which is his weak point. Be sure to dodge any remaining slam attacks he performs while he's on his knees.
After two sets of attacks while the Minotaur is weary, he will be defeated and you can progress to the next area.