InfraParis is a novel and versatile dataset supporting multiple tasks across three modalities: RGB, depth, and infrared. From the city to the suburbs, it contains a variety of styles in different areas of the greater Paris area, providing rich semantic information. InfraParis contains 7301 images with bounding boxes and full semantic (19 classes) annotations. We assess various state-of-the-art baseline techniques, encompassing models for the tasks of semantic segmentation, object detection, and depth estimation.