INPOP06 is the new numerical planetary ephemeris developed at the IMCCE-Observatoire de Paris. INPOP (Intégrateur Numérique Planétaire de l'Observatoire de Paris) is a numerical integration of the motion of the nine planets and the Moon fitted to the most accurate available planetary observations. It also integrates the motion of 300 perturbing main belt asteroids, the rotation of the Earth and the Moon libration. We used more than 55 000 observations including the latest tracking data of the Mars Global Surveyor (MGS) and Mars Odyssey (Odyssey) missions. The accuracy obtained with INPOP06 is comparable to the accuracy of recent versions of the JPL DE ephemerides (DE414, Standish 2003, JPL IOM, 312N, 03; Konopliv et al. 2006, Icarus, 182, 23) and of the EPM ephemerides (EPM2004, Pitjeva 2005, Sol. Syst. Res., 39, 176).