Manual transmissions were offered until 1993, a lower-displacement inline-four engine became an option in Asian markets in 2010, and a gasoline-electric hybrid version was introduced in 2012.

The sixth generation ES debuted in the first half of 2012 as a 2013 model, and features increased cabin dimensions due to a longer wheelbase which is shared with the full-size XX40 series Avalon.

Lexus has positioned the ES in the comfort luxury segment, with an emphasis on interior amenities, quietness, and ride quality,[8] in contrast with more firm-riding sport sedans.

[10] In Europe, Japan and other markets where it was not available until the seventh generation model, the GS sport sedans occupy the mid-size category in the Lexus lineup until it was cancelled August 2020.

[12][13][14] The first generation ES (VZV21) debuted in January 1989 at the North American International Auto Show in Detroit as part of the launch of the Lexus division.

In order to avoid introducing the nameplate with only one model, the LS 400, Lexus quickly developed the ES to debut alongside their flagship sedan.

The smaller representative of the initial two-sedan Lexus lineup was designated the ES 250, and powered by the Camry's 2.5 L, 116 kW (156 hp) V6, which was aimed directly at the Acura Legend.

[18][16] On the exterior, the ES 250 shared the same general body style and overall dimensions as its Toyota counterparts, but had a more prominent grille, bigger tail lights, chrome trim, frameless windows, and distinct wheel design similar to its LS brethren.

Inside the cabin, the ES 250 featured a six-speaker Pioneer sound system, genuine wood trim, one-touch power windows, and leather seats.

Due to its similarities to the Camry, some viewed the ES 250 as a placeholder product of badge engineering and the vehicle ultimately did not sell as well as its larger counterpart.

Completely redesigned and now sharing design features with the XV10 series Toyota Windom and styling cues with the LS 400,[24] the model was renamed the ES 300 to reflect the half-liter increase in engine displacement to 3.0-liters.

On the front fascia, the ES gained projector headlamps in a curved housing and a three-slat grille with the Lexus emblem moved above on the hood.

The rear deck lid featured an integrated spoiler effect similar to the flagship LS 400, improving the ES model's aerodynamics, now rated Cd=0.32.

Inside the cabin, the second generation ES featured California walnut trim on the center console, leather seats, an eight-speaker premium sound system, and keyless entry.

Compared to its Camry relative, the ES 300 featured separate styling, a different suspension setup with front and rear independent MacPherson strut, and added weight amounting to 90 kg (200 lb).

From 1992 to 1996, chief engineer Kosaku oversaw development of the XV20 Lexus variant alongside the XV20 series Camry programme under project code 416T.

The third generation ES was also slightly longer (overall length increased by 61.0-millimetre (2.4 in)) but weighed less than the previous model, and its drag coefficient was Cd=0.29, improved over its predecessor.

For the first time, an Adaptive Variable Suspension, capable of adjusting individual wheels' dampers according to road conditions (within 0.0025 seconds), was offered.

[34] Inside the cabin, the ES 300 featured a new electroluminescent Lexus Optitron instrument panel, walnut trim, and leather seats.

A power moonroof, a 230 watt Nakamichi premium sound system with in-glove-box mounted six-disc CD changer, HID Headlights, Adaptive Variable Suspension and heated seats were options.

After a US class action lawsuit, Toyota notified US owners that engines would be overhauled or replaced for free if damaged by the buildup of gelled oil.

The model featured the Adaptive Variable Suspension, 17-inch Y-spoke alloy wheels, Mark Levinson audio, interior upgrades, and special dark exterior colors.

In 2004 for the 2005 model year, the ES received a facelift with new front and rear fascias, clear taillights, projector headlights, and a redesigned grille.

Inside, features included standard audio and display steering wheel-mounted controls, power adjustable pedals, heated and ventilated front seats, Bird's Eye Maple trim and optional integrated satellite radio.

[54] The ES 350 interior featured walnut wood accents, leather seats, dual zone climate control with air filter, an MP3 player auxiliary input, power tilt and telescoping steering wheel, and eight standard airbags.

That year, the ES 350 was launched in North America, the Middle East, China (excluding Hong Kong and Macau), South Korea and Taiwan.

[64] On 29 September, a Toyota safety notice advised floor mat removal, shift to Neutral (N) gear in an emergency, with a 3-second push button ignition press for engine shutoff.

The navigation system shared with the then current RX now included upgraded VoiceBox speech recognition, Bluetooth phone book downloading, and Lexus Insider, XM Weather, Sports, and Stocks reports, and switched from DVD based maps to an internal hard drive.

[106] Initial deliveries of ES 300h started on 24 October 2018 in Japan, where it replaced the smaller HS 250h and served as a front-wheel-drive counterpart of GS until the latter's demise in 2020.

Changes includes an updated front fascia with new headlights and new grille design, updated rear fascia with new taillights combined with a full-width light bar, the Lexus logo replaced with the brand lettering on the boot lid, a redesigned rear bumper with the exhaust pipes hidden, and the interior receives a larger 14-inch touchscreen infotainment system and fewer physical controls.