We have investigated the efficiency of ion trapping in a linear Paul trap. First, we measured the dependence of trapping efficiency on dc and rf voltages using a channel electron multiplier for the direct detection of the electric current of the trapped ions. The most efficient dc and rf voltages were 5.0 and 175 V, respectively. Second, we calculated the trapping efficiency using a simulation code and compared it with the experimental results. We determined that the efficiency of ion trapping decreased monotonically with increasing dc voltage and had an optimum rf voltage. From the numerical calculation, the dependences of trapping efficiency on dc and rf voltages and the initial kinetic energy of ions was derived and the optimum dc and rf voltages and the initial kinetic energy of ions were found to be 0, 210 V, and 1 eV, respectively.