Differential cross sections for π−p and π+p elastic scattering were measured at five energies between 19.9 and 43.3 MeV. The use of the CHAOS magnetic spectrometer at TRIUMF, supplemented by a range telescope for muon background suppression, provided simultaneous coverage of a large part of the full angular range, thus allowing very precise relative cross section measurements. The absolute normalisation was determined with a typical accuracy of 5%. This was verified in a simultaneous measurement of muon proton elastic scattering. The measured cross sections show some deviations from phase shift analysis predictions, in particular at large angles and low energies. From the new data we determine the real part of the isospin forward scattering amplitude.