- B5 (1999-2001)
- First RS 4 Avant based on B5 platform, produced 6,030 units
- Features 2.7L V6 engine producing 381 PS with quattro system
- Accelerates 0-100 km/h in 4.9 seconds, top speed limited to 250 km/h
- B7 (2006-2008)
- Second RS 4 based on B7 platform, produced 10,000 units
- Available as sedan, Avant, and Cabriolet versions
- Features 4.2L V8 engine producing 420 PS with quattro system
- Accelerates 0-100 km/h in 4.8 seconds, top speed limited to 250 km/h
- B8 (2012-2015)
- Based on B8 platform, produced 7,000 units
- Features 4.2L FSI V8 engine producing 450 PS
- Includes ceramic brakes option and 20" wheels
- Accelerates 0-60 mph in 4.7 seconds
- B9 (2017-2024)
- New generation with 2.9 TFSI V6 twin-turbo engine
- Produces 450 PS and 600 Nm torque
- Available with 8-speed Tiptronic transmission
- Features angular exterior design and new wheels