As of the U.S. census of 2006, there were 100,374 citizens in Midland. The population density was 550.6/km² (1,426.2/mi²). There were 39,855 housing units at an average density of 231.0/km² (598.3/mi²). The racial makeup of the city was 75.51% White, 8.37% African American, 0.63% Native American, 1.01% Asian, 0.03% Pacific Islander, 12.49% from other races, and 1.96% from two or more races. Hispanic or Latino of any race were 28.99% of the population.

There were 35,674 households out of which 37.9% had children under the age of 18 living with them, 55.4% were married couples living together, 11.9% had a female householder with no husband present, and 29.3% were non-families. 25.8% of all households were made up of individuals and 9.2% had someone living alone who was 65 years of age or older. The average household size was 2.62 and the average family size was 3.19.

In the city the population was spread out with 29.9% under the age of 18, 9.0% from 18 to 24, 28.2% from 25 to 44, 20.6% from 45 to 64, and 12.3% who were 65 years of age or older. The median age was 34 years. For every 100 females there were 92.2 males. For every 100 females age 18 and over, there were 87.7 males.

The median income for a household in the city was $39,320, and the median income for a family was $48,290. Males had a median income of $37,566 versus $24,794 for females. The per capita income for the city was $20,884. About 10.1% of families and 12.9% of the population were below the poverty line, including 16.4% of those under age 18 and 8.0% of those age 65 or over.