According to the invention, there is provided a novel soybean variety designated XB24R06. This invention thus relates to the seeds of soybean variety XB24R06, to the plants of soybean XB24R06 to plant parts of soybean variety XB24R06 and to methods for producing a soybean plant produced by crossing plants of the soybean variety XB24R06 with another soybean plant, using XB24R06 as either the male or the female parent.