As of the census of 2000, there were 31,473 people, 13,713 households, and 7,185 families residing in Bangor. The population density was 352.7/km² (913.7/mi²). There were 14,587 housing units at an average density of 163.5/km² (423.5/mi²).

The Bangor Public Library, founded in 1883 with its very beginnings tracing back to 1830 and seven books in a simple footlocker, now has a collection of over 500,000 volumes. The Maine Discovery Museum is a major children's museum founded in 2001 and located in the downtown area. Next to the library is the Luther H. Peirce Memorial, a large statue commemorating River Drivers created by the noted sculptor Charles Eugene Tefft in 1925.

There are several performing arts venues and groups in the Bangor area. The Bangor Symphony Orchestra, founded in 1896, is the oldest continually operating symphony orchestra in the United States. The Bangor Band, founded in 1859 and performing continually since then, gives free weekly concerts in the city's parks during the summer, and counts among its past conductors noted march composer Robert B. Hall. The Penobscot Theatre Company is a professional theater company based in the historic Bangor Opera House. The Maine Center for the Arts, located at the nearby University of Maine, hosts a wide variety of touring performing artists and events.

Bangor also boasts the country's second oldest garden cemetery, the Mt. Hope Cemetery.

The Bangor State Fair, held starting the last Friday of each July, for more than 150 years, is one of the country's oldest fairs, featuring agricultural exhibits, carnival attractions, and live performances.

In 2002, 2003, and 2004, Bangor was the host of the National Folk Festival. In August, 2005, the newly created American Folk Festival began as an annual event on the city's waterfront.

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