When I first experienced this I ignored it. But after some days I noticed that I had to unlock it by pattern lock or password everytime I restart the phone and after unlocking by pattern/password, I was able to use fingerprint.
Why is this so? I am not sure that every Android device has the same issue. Is this a security feature? If yes, why? I mean if this is a security feature the phone must be unlocked by fingerprint, as pattern or password can be guessed after some attempts (especially patterns).
There are some threads (see this and this), but they doesn't seem to be very informative.