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For those who have 3GS, apparently the performance improvements are very great:

"Overall Performance

First, let’s start with the performance. As I said, iOS 5 was at times extremely sluggish. Moving about the OS was often slow, apps took a long time to open and often crashed, and even simple things like opening up Messages became frustrating.

With iOS 6, I have encountered none of this so far. The UI is snappy, opening and closing apps and windows is as fast as it ever has been, deleting apps doesn’t take an eternity and I can even open Messages and my email at will without noticeable slow down.

It’s refreshing and thus far, a noticeable improvement over iOS 5."

http://www.gottabemobile.com/2012/09/19/ios-6-on-iphone-3gs-first-impressions-and-performance/