The ESA mission Gaia is regularly scanning the sky since 2014.5 down to magnitude V≈20.7, and its 4th harvest has just been published with the recent Gaia Focus Product Release. I will first give a brief review of the Gaia mission, its status, observations, instruments and data releases. Next, we will see some of the scientific results obtained for asteroids, focusing on astrometry and photometry. We will expose in particular the improvement on asteroid orbital solutions obtained within the FPR. Last, we will touch upon synergy with ground-based observations, and promises for the study on the dynamics of Solar System Objects.