The name "Yaris" is derived from "Charis", the singular form of Charites, the Greek goddesses of charm and beauty.

The hatchback version was developed with the European market as the main target, designed by Toyota’s ED2 facility in France.

Exterior panels common between the hatchback and sedan versions are limited to the front doors.

[8] Production of all United States and Canadian XP130 Yaris models shifted from Japan to Toyota Motor Manufacturing France starting in May 2013.

The fourth-generation Yaris, available initially only as a hatchback, was unveiled simultaneously on 16 October 2019 in Japan and Amsterdam, Netherlands.

[20] A performance-oriented version developed by Toyota Gazoo Racing, called the GR Yaris, was first unveiled at the 2020 Tokyo Auto Salon and production began in September 2020.

The sedan version was introduced in August 2022, debuting in Thailand as the Yaris Ativ to replace the previous XP150 model.

[24] At the 2015 New York International Auto Show in April of that year, it was announced that this plant would produce a version of the Mazda2 for Toyota with minor styling changes, with the vehicle to be sold in Mexico as the Yaris, in the United States as the Scion iA,[25] and in Canada as the Yaris sedan.

[28][29] For the 2019 model year, it was renamed again as the Yaris sedan in the United States, receiving a minor facelift with an updated grille insert and trim changes.

[30][31] Unlike the previous models, which offered only exterior colors and a choice between 6-speed manual and 6-speed automatic transmissions as factory options,[32] both the United States[30][31] and Canadian[33] 2019 and 2020 Yaris sedans were offered in L, LE and XLE trim levels with a wider variety of interior and exterior options.

[36] The United States and Canadian Yaris hatchback was offered in LE and XLE trim levels.