The Gaia mission has triggered major developments in the field of Galactic dynamics in recent years, which we discuss in this review. The structure and kinematics of all Galactic components - disc, bar/bulge and halo - are now mapped in great detail not only in the Solar neighbourhood, but across a large part of the Milky Way. The dramatic improvements in the coverage and precision of observations revealed various disequilibrium processes, such as perturbations in the Galactic disc and the deformations of the outer halo, which are partly attributed to the interaction with satellite galaxies. The knowledge of the gravitational potential at all scales has also advanced considerably, but we are still far from having a consistent view on the key properties of the Galaxy, such as the bar pattern speed or the mass profile and shape of the dark halo. The complexity and interplay of several dynamical processes makes the interpretation of observational data challenging, and it is fair to say that more theoretical effort is needed to fully reap the fruit of the Gaia revolution.

Review article in the special issue of New Astronomy Reviews "Gaia, the first crop of discoveries"; minor updates to match the published version