- First Generation (1989-1991)
- ES 250 launched alongside LS 400 as Lexus's first mid-size executive sedan
- Based on Toyota Camry platform with 2.5L V6 engine
- First generation sold 19,534 units in 1990-1991
- Second Generation (1991-1996)
- ES 300 introduced with 3.0L V6 engine, becoming Lexus's best-selling model
- Gained 127mm length and 76mm width, improved aerodynamics
- Sales reached 39,652 units in first year, 40,735 in 1996
- Third Generation (1996-2001)
- Third generation featured stiffer body and improved aerodynamics
- 3.0L V6 engine produced 150kW (200hp), 0-97km/h in 7.7 seconds
- Sales reached 58,430 units in first year, 35,000-50,000 total
- Fourth Generation (2001-2006)
- Fourth generation focused on luxury with upscale styling
- 3.3L V6 engine produced 163kW (218hp), 0-97km/h in 6.2 seconds
- Best-selling Lexus sedan in US for over 15 years
- Fifth Generation (2006-present)
- ES 350 introduced with 3.5L V6 engine, 203kW (272hp)
- Featured L-finesse design philosophy and unique colors
- Remained Lexus's top-selling sedan in North America and Asia
- Launched in US in 2007, priced at $33,470