The Audi RS4 debuted in 1999 as a replacement for the RS2, which was a Porsche prodigy. Like the RS2, the RS4 when introduced was only available in the Avant (station wagon) body style. The Avant has a 2.7 Liter V6 engine and Quattro four wheel drives. The Audi RS4 is a bit on the heavy side, it weighs 1620 kilograms; it can achieve 100 Kilometers and hits the mark in 4.7 seconds.

After 5 years, Audi reintroduced the RS4 in 2006 now known on a B7 A4 platform. However, the new RS is a very different model compared to its other RS predecessors, in terms of body style. The new RS 4 was introduced in the sedan category initially. The new car got a total new styling with new front and rear bumpers, a new top for the cargo hold and 19-inch tires. The interior of the sedan was al so changed with inflatable cushions being added to the seats so that the cushion can expand once a person sits on it. Though there was not enough legroom for rear-seat passengers.

The Avant and Convertible versions of the Audi RS4 will be making their debut in 2008. The new RS 4 is powered by a 4.2 liter V8 engine. The new vehicle weighs 1650 kilograms and is able to reach 100 kilometers per hour in 4.8 seconds. All Rs4 models are now equipped with 19 inch tires, xenon headlights, power adjusted seats, music system that has 10 speakers and a 6 cd changers. Also included is a system that helps the driver park the car. The car is fitted with a navigation system. A carry over of the 2006 model, is the lack of adequate leg space for adults seated in the back. The car has anti-lock brakes on all 4 tires, with side airbags for passengers seated in the front of the car.