Generally only ground floors need to be insulated however, you should consider insulating any floors that are above unheated spaces such as garages, as you could be losing a lot of heat through those.  

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Many homes – especially newer ones – will have a solid concrete floor. This can be insulated when it needs to be replaced, or can have rigid insulation laid on top.

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Older homes are most likely to have suspended timber floors. If you have air bricks or ventilation bricks on the outside wall(s) of your house that are below floor level, you probably have a suspended timber floor.

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