As of the census of 2000, there were 20,720 people, 5,291 households, and 3,121 families residing in the town. Mansfield's population increased 27.5% between 2000 and 2010, making it the second fastest-growing municipality in Connecticut for that period after Oxford. The population density was 466.0 people per square mile (179.9/km). There were 5,481 housing units at an average density of 123.3 per square mile (47.6/km). The ethnic makeup of the town was 83.91% White, 4.87% African American, 0.20% Native American, 7.15% Asian, 0.05% Pacific Islander, 1.88% from other races, and 1.94% from two or more races. Hispanics or Latinos of any race were 4.31% of the population.