Designed by John Barnard and Mike Coughlan, the car made its debut at the 1991 San Marino Grand Prix, driven by two Brazilian drivers, three-time World Drivers' Champion Nelson Piquet and Roberto Moreno.

Following the Belgian Grand Prix the team replaced Moreno with German newcomer Michael Schumacher.

Nelson Piquet gave the B191 its only win at the 1991 Canadian Grand Prix after Nigel Mansell's leading Williams-Renault suffered electrical failure less than half a lap from the finish gifting Piquet the last win of his Formula One career.

The car was pressed into service for the first three races of the 1992 season with small upgrades to bodywork and suspension.

The B191 was the first Benetton to feature the now standard raised nose first pioneered by Tyrrell in 1990.