The Crown Majesta appeared after the international introduction of the Celsior/Lexus LS in late 1989; the Celsior was exclusive to Toyopet Store locations on a newer platform.

The two engine choices gave Japanese buyers the option as to which annual road tax obligation they were willing to pay.

Unlike the body-on-frame S140 hardtop, the Majesta was built using unibody construction, becoming the first model in the Crown family to adopt such a design.

Advanced for this time, the Crown Majesta had an optional GPS navigation system, electronic instrument cluster, electric power steering, heated front and rear electric seats, a head-up display that projected key information on the inside windshield surface above the instrument cluster, and an i-Four comprehensive vehicle control system.

[6] At its introduction in 1996, it won the Automotive Researchers' and Journalists' Conference Car of the Year award in Japan which it shared with the 1996 Crown.

Wider vertical taillights were incorporated as well as redesigned headlights, grille and minor aesthetic updates.

The previous two-tone paint scheme options remained as well as Toyota's other top-of-the-line features for this model.

The S170 series Crown Majesta received an updated version of the 4.0-litre engine with VVT-i, rated at 216 kW (290 hp; 294 PS), while the 3.0-litre option was changed to the 2JZ-FSE type.

The transmission was upgraded to a 6-speed automatic unit, the four-wheel drive system was improved, and air suspension was introduced.

Intelligent adaptive front lighting and rear curtain airbags were added to improve safety.

In July 2004, the Crown Majesta introduced both a lane keeping assist and a radar pre-collision system with a single camera to improve the accuracy of collision forecast and warning and control levels.

A departure from previous models, the two-tone paint scheme was removed to target a younger audience.

[9] On 26 March 2009, The fifth-generation Crown Majesta was released, evolving substantially while retaining the overall styling of its predecessor.

The standard A grade model offered an optional L package including the steering support system that enabled the driver to handle the car more effortlessly.

[1] In June 2023, Toyota revived the "Majesta" nameplate as a designation for the upper trim level of the sixteenth generation Crown Crossover sold in Saudi Arabia.