The entry level Lexus ES model made its debut in 1991. The ES was a lot like the Toyota Camry, but had a much better interior. This model was numbered the ES 250. It had leather seats and a 2.5 Liter V6 engine that powered it. There was a choice of two gear systems - one could choose between a five speed manual system or a four speed automatic system. The vehicle was provided with anti-lock brakes on all four tires and a side airbag for the driver. In 1992, the ES 250 was replaced by the ES 300 which was longer and bigger then the Camry. The vehicle was powered by a 24 valve V6 engine. In 1994, the ES 300 got a passenger side airbag and a new engine. The changes to the ES 300 continued in 1995, when it received new fog lights plus new brake and signal lights. 1996, a new edition of The ES 300 was launched, which Lexus called the coach edition.

The second generation Lexus made its debut in 1997. The car shared its body and some of its parts with the Camry. This Lexus gained length and gave the passengers seated in the back more space to stretch their legs. It was a front-wheel drive vehicle that derived its power from a 3.0 Liter V6 engine with dual cams and 200 horsepower. It had a four-speed automatic system with dual airbags, anti-lock brakes and traction control. In 1998, airbags mounted on the side of the doors were added. The next year the engine was changed to 300 horsepower. In 2000, child protection seats were added along with a control board for the stereo system.