We have obtained high resolution spectropolarimetric data for the planet-hosting star $\tau$ Bootis, using the ESPaDOnS spectropolarimeter at CFHT. A weak but clear Stokes $V$ signature is detected on three of the four nights of June 2006 during which we have recorded data. This polarimetric signature indicates with no ambiguity the presence of a magnetic field at the star's surface, with intensity of just a few Gauss. The analysis of the photospheric lines of $\tau$ Boo at ultra-high signal-to-noise reveals the presence of an 18% relative differential rotation. Tentative Zeeman-Doppler imaging, using our spectropolarimetric observations covering only a fraction of the star's rotational phase, indicates a magnetic field with a dominant pote...