For a simple real Lie group G with Heisenberg parabolic subgroup P , we study the corresponding degenerate principal series representations. For a certain induction parameter the kernel of the conformally invariant system of second order differential operators constructed by Barchini, Kable and Zierau is a subrepresentation which turns out to be the minimal representation. To study this subrepresentation, we take the Heisenberg Fourier transform in the non-compact picture and show that it yields a new realization of the minimal representation on a space of L 2 -functions. The Lie algebra action is given by differential operators of order ≤ 3 and we find explicit formulas for the lowest K-type.These L 2 -models were previously known for the groups SO(n, n), E 6( 6) , E 7( 7) and E 8(8) by Kazhdan and Savin, for the group G 2(2) by Gelfand, for the group SL(3, R) by Torasso, and for SO(4, 3) by Sabourin. Our new approach provides a uniform and systematic treatment of these cases and also gives new L 2 -models for E 6(2) , E 7(−5) and E 8(−24) for which the minimal representation is a continuation of the quaternionic discrete series, and for the groups SO(p, q) with either p ≥ q = 3 or p, q ≥ 4 and p + q even.