Measurements of inclusive spectra and mean multiplicities of π± , K ± , p and p¯ produced in inelastic p + p interactions at incident projectile momenta of 20, 31, 40, 80 and 158 GeV/c ( s= 6.3, 7.7, 8.8, 12.3 and 17.3 GeV , respectively) were performed at the CERN Super Proton Synchrotron using the large acceptance NA61/SHINE hadron spectrometer. Spectra are presented as function of rapidity and transverse momentum and are compared to predictions of current models. The measurements serve as the baseline in the NA61/SHINE study of the properties of the onset of deconfinement and search for the critical point of strongly interacting matter.