The Innova is the replacement for wagon versions of Kijang (internally known as the Toyota Utility Vehicle), which was also marketed under different names such as Tamaraw FX/Revo, Unser, Zace and Condor.

Like the outgoing Kijang, the first two generations (2004–2022) of the Innova are rear-wheel-drive vehicles built on the body-on-frame chassis shared with the Hilux pickup truck and the Fortuner SUV under the IMV project, instead of the unibody construction commonly used by MPVs of its era.

The change was made to make use of the hybrid powertrain (which the IMV platform cannot utilise), and to provide the comfort and efficiency benefits of the front-wheel-drive layout.

[3] The Innova first entered production in Indonesia in August 2004 and has been manufactured in other emerging countries such as India, Malaysia, the Philippines, Taiwan and Vietnam.

The Innova has also been marketed in Brunei, Cambodia, Myanmar, Thailand, GCC countries, Ecuador, Egypt, Jamaica and Argentina.

Unlike its predecessor, the Innova could be equipped with modern safety features such as ABS and airbags as it was designated as a more global oriented model.

In August 2009, the E and G-type Kijang Innova received improvements, such as redesigned side body moulding, chrome ornaments on rear windshield and boot lid.

[citation needed] The third facelift of the Innova debuted in August 2013 in Indonesia, which introduced a revised front bumper, boot garnish and equipment upgrades.

It was equipped with a 2.7-litre 2TR-FE engine (later also used on petrol variants of the Toyota Fortuner), dual airbags, ABS, seven-seat layout, with no manual transmission option.

In early 2007, the engines on the Indonesian market Kijang Innova were updated to comply with the Euro 2 emission standards.

Changes consist of a larger grille, redesigned bumpers and an updated boot garnish exclusive to the E, G and V grades.

[citation needed] The Innova was launched on 27 May 2005, replacing the Unser and was offered in two variants: the E and G, both powered by the 1TR-FE 2.0-litre engine with VVT-i.

Grade levels include the J, the E (mid-level model with power features, airbags, and only available with a diesel engine; a petrol engine variant was added for 2008), the G (middle model with carry over equipment levels from the E grade albeit with leather seats and interiors), and the V (high end model, which was introduced in the last quarter of 2006 and only available with an automatic transmission, captains seats on the middle row, and high end audio system).

[29] It was offered until early 2012 and in that same year, a facelifted version of the Innova was launched, featuring a redesigned front bumper, headlights, and taillights.

[citation needed] In early 2014, another facelifted version of the Innova was launched; a redesigned front bumper and tailgate were parts of this update.

[33] The Innova was introduced in Taiwan in July 2007 to replace the Zace Surf, as it was not compliant with the stricter emissions regulations.

Retaining the same initial exterior styling without a facelift, the vehicle gained black interior colour replacing beige.

[48] It was reported that the second-generation Innova shares "only 5% of its components with the outgoing model, which is, apparently, a few bolts and screws," according to Toyota Motor Manufacturing Indonesia (TMMIN) director of production engineering, Nandi Julianto.

While keeping the same wheelbase as the previous generation, the Innova rides on a revised body-on-frame chassis that has been tweaked with a thicker side rail to offer better strength and structural rigidity.

[4] The second-generation Innova is fully manufactured in Indonesia and India, and also assembled by knock-down kits in Malaysia, the Philippines, and Vietnam.

[61] As the Kijang Innova is moving upmarket to make room for the second-generation Sienta, the J and E grades from the previous generation was removed.

To commemorate the 50th anniversary of Toyota-Astra Motor, the limited edition variant of the Kijang Innova was made available in April 2021.

[80] The second-generation Innova rolled off Toyota's assembly plant in Santa Rosa, Laguna on 14 April 2016 and went on sale a few days later.

[83] Al Futtaim Motors, the distributor of Toyota in UAE, launched the second-generation Innova on 6 April 2016.

Similar to the second generation, the concept combines the design elements of a crossover SUV with the interior space and practicality of a minivan or MPV.

[118] Toyota shifted the A-pillars further back, while the D-pillars are tilted forward to avoid an orthodox van-like design.

[119] With the use of the flat floor variation of the GA-C platform shared with the fourth-generation Noah/Voxy, the third-generation Innova is lighter by 170 kg (375 lb) compared to its predecessor.

[121] Other additions and changes compared the previous generation include electronic parking brake with auto brake hold as standard, dashboard-mounted gear lever, panoramic roof, Toyota Safety Sense, and second-row captain seats with "Ottoman" leg rests.

It is a fifth-generation hybrid system developed by Toyota, combining the M20A-FXS engine with a permanent magnet synchronous electric motor and a 6.5-Ah nickel-metal hydride (NiMH) battery.

Positioned under the front seats, the NiMH battery is chosen over lithium-ion due to its better durability in hot weather conditions.