Accepted for publication in the 'Monthly Notices of the Royal Astronomical Society'We report the discovery of a medium-strength (~0.5kG) magnetic field on the young, massive star tauSco (B0.2V), which becomes the third-hottest magnetic star known. Circularly polarized Zeeman signatures are clearly detected in observations collected mostly with the ESPaDOnS spectropolarimeter, recently installed on the 3.6-m Canada-France-Hawaii Telescope; temporal variability is also clearly established in the polarimetry, and can be unambiguously attributed to rotational modulation with a period close to 41d. Archival UV spectra confirm that this modulation repeats over timescales of decades. By reconstructing the large-scale structure of its magnetic topo...