Context. The rotation curve, the total mass and the gravitational potential of the Galaxy are sensitive measurements of the dark matter halo profile. Aims. Cuspy and cored DM halo profiles are analysed with respect to recent astronomical constraints in order to constrain the shape of the Galactic DM halo and the local DM density. Methods. All Galactic density components (luminous matter and DM) are parametrized. Then the total density distribution is constrained by astronomical observations: 1) the total mass of the Galaxy, 2) the total matter density at the position of the Sun, 3) the surface density of the visible matter, 4) the surface density of the total matter in the vicinity of the Sun, 5) the rotation speed of the S...