It is marketed as the sportier version of the Noah, featuring split-type headlights and clear taillight lens, a styling trait that would later be shared with the larger Vellfire.

[5][6] Since the fourth generation, all variants have exceeded the 1,700 mm (66.9 in) width limit, which made it classified as a "class three" vehicle.

Newly developed based on the Ipsum platform, it is the first time the Noah nameplate adopted a front-wheel drive layout.

In Indonesia, the facelifted second-generation Noah was launched on 11 December 2012 as the Toyota NAV1, which filled the gap between the Kijang Innova and the Alphard.

It was CKD-assembled at Sugity Creatives, a subsidiary of Toyota Auto Body in Bekasi, West Java, and available in two grade levels, G and V. The engine used is the 2.0-litre 3ZR-FAE four-cylinder petrol unit mated with a continuously variable transmission.

[14] After the NAV1 was discontinued in January 2017 due to declining sales, it was replaced by the facelifted third-generation Voxy in August of the same year, which is imported from Japan.

The Noah/Voxy/Esquire received a facelift on 3 July 2017 with changes to the lights, bonnet (hood), bumper and the front fender, and was discontinued in late 2021.

[23][24] The fourth-generation Noah and Voxy were introduced on 13 January 2022, which are built on the GA-C platform that is revised and adapted for minivans.

As the result, Noah/Voxy model exceeded the 1,700 mm (66.9 in) threshold of the "compact car" class under Japanese dimension regulations.

[29] For the first time, the Noah no longer wears the stylized 'N' insignia on the front end, with Toyota's corporate triple oval emblem replacing it.