More than likely DOT3. It is listed on the master cylinder fill cap.
Sp 3 only from dealer
According to Hyundai you should use Hyundai SPIII or use DEXRON III ATF.
It's a manual transmission, it doesn't need fluid at all.
Dexron III automatic transmission fluid
according specs Hyundai it will be dot 3.
Automatic - Hyundai SP3/SP4 Manual - SAE 75W/90
The 2006 Hyundai Elantra has double overhead cam (DOHC).
The 2011 Hyundai Elantra has double overhead cam (DOHC).
The 2013 Hyundai Elantra has double overhead cam (DOHC).
The 2012 Hyundai Elantra has double overhead cam (DOHC).
The 2008 Hyundai Elantra has double overhead cam (DOHC).
The 2014 Hyundai Elantra has double overhead cam (DOHC).