The first-generation Venza is based on the XV40 series Camry chassis[7] (K platform) and is similar to the Mark X ZiO in concept.

For 2012, the Venza featured LE, XLE and Limited trim levels for the US market, replacing the single-grade line with various option packages.

[13] Some Venza owners have reported a safety concern because the sun visor can suddenly sag and obscure the driver's vision while driving.

An online petition was created to encourage Toyota to issue a safety recall due to the failing sun visors.

[22] The first-generation Venza was one of the two North American built Toyota automobiles (alongside the Avalon) not to be sold in Mexico.

[26] Toyota states the Venza blends the "styling and comfort of a passenger car with the flexibility of a sport utility vehicle".

Toyota lists the Venza's competitors as the Honda Accord and Nissan Altima on their website's comparison page, both being popular mid-size sedans.

[29] Toyota told automotive magazine Motor Trend that it forwent entering the Venza in the publication's SUV of the Year competition.

In 2015, Toyota announced that the first-generation Venza would be discontinued after the 2015 model year, citing three factors contributing to the decision: customer preference, competitiveness within the segment and deteriorating sales.

[3] The second-generation Venza is a rebadged Japanese-market XU80 series Harrier, released for the North American market for the 2021 model year.

It was initially planned to be revealed at the April 2020 New York International Auto Show but it was instead unveiled online in North America on May 18, 2020.

[36][37][38][39] The second-generation Venza is also sold in China by GAC Toyota and produced at the Guangzhou factory, with alterations on the front fascia.