DecodedCars2024 Lexus ES
Trims, performance, features, fuel economy, safety and known problems — with the pros and cons against similar 2024 models.
- Class
- Midsize Cars
- Body styles
- 250 4dr Sedan AWD, 300h Hybrid 4dr Sedan, 350 4dr Sedan
- Engines
- 2.5L 4-cyl, 3.5L 6-cyl
- Horsepower
- 176–301 hp
- Drivetrain
- Front-Wheel Drive, All-Wheel Drive
- Fuel
- Hybrid, Regular Gasoline
- MPG (best)
- 44 combined · 43 city / 44 hwy
- Length
- 196.1 in
- Curb weight
- 3,649–3,737 lb
- NHTSA rating
- Not rated
- Recalls
- 2 campaigns
Pros & cons
What's good
- Excellent fuel economyUp to 44 MPG combined — 54% better than the average 2024 midsize car (28.6 MPG).
- Hybrid version availableOffered as a hybrid as well as gas.
- AWD / 4WD available
- Lots of standard safety tech5 of 5 key driver aids standard on the versions we checked.
Watch out for
No weak spots against similar models in the data.
Calculated from EPA, NHTSA and vPIC data against 33 similar 2024 models — not a review. How we calculate this →
Overview
The 2024 Lexus ES is a midsize car offered with 2 engines (2.5L 4-cyl and 3.5L 6-cyl), including a hybrid version and front-wheel drive and all-wheel drive.
It measures about 196 inches long and 74 inches wide on a 113-inch wheelbase, with a curb weight of roughly 3,737 lb (250 4dr Sedan AWD).
EPA rates its most efficient version at 44 MPG combined (43 city / 44 highway), 54% better than the 2024 midsize car average of 28.6 MPG, for an estimated $1,500 a year in fuel.
NHTSA has not published a 5-Star overall rating for this model year.
It has 2 recall campaigns on file and owners have filed 9 complaints with NHTSA since 2015, most often about the lane departure.
What changed for 2024
No changes to engines, powertrains, drivetrains, size, EPA ratings or NHTSA crash rating compared with the 2023 ES — a carry-over year in the data.
Compared with 2023; trim, feature and price changes aren't covered. See the 2023 ES →
Trims, performance & features
Trims
Safety & driver-assist features
Built in: Georgetown, Kentucky
NHTSA vPIC, as reported by the manufacturer for 4 2024 ES configurations; may not list every trim. How we calculate this →
Dimensions & weight
| Body | Length | Width | Height | Wheelbase | Track F / R | Curb weight | Weight F/R |
|---|---|---|---|---|---|---|---|
| 250 4dr Sedan AWD | 196.1 in | 73.6 in | 57.1 in | 113 in | 63.8 / 63.8 in | 3,737 lb | 60/40 |
| 300h Hybrid 4dr Sedan | 196.1 in | 73.6 in | 57.1 in | 113 in | 63.8 / 63.8 in | 3,704 lb | 59/41 |
| 350 4dr Sedan | 196.1 in | 73.6 in | 57.1 in | 113 in | 63.8 / 63.8 in | 3,649 lb | 60/40 |
Transport Canada CVS (Open Government Licence – Canada), Canadian-market figures.
Will it fit your garage? Check with your measurements →Engines, MPG & running costs
| Version | Engine | Transmission | Drive | City / Hwy / Comb | vs. class | Fuel / yr | CO₂ g/mi |
|---|---|---|---|---|---|---|---|
| ES 300h Hybrid | 2.5L 4-cyl | Automatic (AV-S6) | Front-Wheel Drive | 43 / 44 / 44 | +54% | $1,500 | 202 |
| ES 250 AWD | 2.5L 4-cyl | Automatic (S8) | All-Wheel Drive | 25 / 34 / 28 | -2% | $2,400 | 315 |
| ES 350 | 3.5L 6-cyl | Automatic (S8) | Front-Wheel Drive | 22 / 32 / 26 | -9% | $2,600 | 346 |
| ES 350 F Sport | 3.5L 6-cyl | Automatic (S8) | Front-Wheel Drive | 22 / 31 / 25 | -13% | $2,700 | 352 |
EPA estimates; "vs. class" is combined MPG against the 2024 EPA class average. How we calculate this →
Safety ratings & technology
NHTSA has not published 5-Star ratings for the 2024 Lexus ES.
Similar 2024 midsize cars
| Model | Best MPG / range | NHTSA overall | Recalls |
|---|---|---|---|
| 2024 Lexus ES (this car) | 44 MPG | Not rated | 2 |
| 2024 BMW 5 Series | 30 MPG | Not rated | 0 |
| 2024 Mercedes-Benz E-Class | 27 MPG | Not rated | 0 |
| 2024 Audi A4 | 30 MPG | Not rated | 0 |
| 2024 Mercedes-Benz C-Class | 30 MPG | Not rated | 0 |
| 2024 Audi A6 | 26 MPG | Not rated | 1 |
| 2024 Tesla Model S | 402 mi | Not rated | 6 |
Recalls (2)
Back Over Prevention › Display Function · Oct 30, 2025
NHTSA campaign 25V744000 · 1,024,407 vehicles
- Problem
- Toyota Motor Engineering & Manufacturing (Toyota) is recalling certain 2022-2026 Toyota, Lexus, and Subaru Solterra vehicles equipped with a Panoramic View Monitor (PVM) system. Please see the recall report for a complete list of models. A software error may cause the rearview camera to freeze or display a blank screen when the vehicle is in reverse. As such, these vehicles fail to comply with the requirements of Federal Motor Vehicle Safety Standard (FMVSS) number 111, "Rear Visibility."
- Risk
- A rearview camera that fails to display an image can reduce the driver's view behind the vehicle, increasing the risk of a crash.
- Fix
- Dealers will update the parking assist software, free of charge. Owner letters were mailed January 2, 2026. Owners may contact Toyota's customer service at 1-800-331-4331. Toyota's numbers for this recall are 25TB13 and 25LB06. Subaru's number for this recall is WRE25.
Back Over Prevention › Display Function · Feb 21, 2024
NHTSA campaign 24V124000 · 18,616 vehicles
- Problem
- Toyota Motor Engineering & Manufacturing (Toyota) is recalling certain 2023 Mirai, Lexus LS500, LS500H, 2023-2024 Lexus ES250, ES300H, ES350, 2024 Lexus LC500, and LC500H vehicles equipped with a Panoramic View Monitor (PVM) system. Due to incorrect programming of the parking-assist electronic control unit (ECU) software, the rearview camera image may not immediately display within a couple of seconds after the shifter is placed into reverse. As such, these vehicles fail to comply with the requirements of Federal Motor Vehicle Safety Standard number 111, "Rear Visibility."
- Risk
- A rearview camera that fails to display an image can reduce the driver's rear view, increasing the risk of a crash.
- Fix
- Dealers will update the parking assist ECU software, free of charge. Owner notification letters were mailed April 10, 2024. Owners may contact Toyota customer service at 1-800-331-4331. Toyota's numbers for this recall are 24TA01 and 24LA01.
Not every 2024 Lexus ES is affected — only a VIN check confirms your car.
Owner-reported problems
Unverified owner reports; best-sellers collect more.
Used 2024 Lexus ES buyer's checklist
- Run the VIN at nhtsa.gov/recalls. 2 recalls this year — ask for proof of repairs.
- Lane Departure › Blind Spot Detection — 2 owner reports. Make sure driver-assist systems and the backup camera work without error messages.
- Air Bags — 2 owner reports. Confirm the airbag warning light turns off after start-up and any airbag recall was completed.
- Seats › Front Assembly › Head Restraint — 1 owner reports. Ask the seller and mechanic specifically about this system.
- Mileage to watch. Owners typically reported problems around 10,100 miles; ask what was repaired near that point.
- Hybrid system. Check for hybrid-system warning lights and ask whether the high-voltage battery has been replaced or is still under warranty.
- Before you pay: service records, a history report and an independent inspection.
Generated by DecodedCars from NHTSA recalls and owner complaints for the 2024 Lexus ES. Not a substitute for a professional inspection.
Other ES years
Compare all years →| Year | MPG (best) | Length | Overall | Recalls | Complaints |
|---|---|---|---|---|---|
| 2026 ES | 46 | 202.4 in | Not rated | 0 | 1 |
| 2025 ES | 44 | 196.1 in | Not rated | 1 | 5 |
| 2023 ES | 44 | 196.1 in | Not rated | 2 | 12 |
| 2022 ES | 44 | 196.1 in | Not rated | 1 | 16 |
| 2021 ES | 44 | 196.1 in | Not rated | 1 | 35 |
| 2020 ES | 44 | 196.1 in | Not rated | 3 | 24 |
| 2019 ES | 44 | 196.1 in | Not rated | 4 | 40 |
| 2018 ES | 40 | 192.9 in | Not rated | 2 | 15 |
| 2017 ES | 40 | 192.9 in | Not rated | 1 | 26 |
| 2016 ES | 40 | 192.9 in | Not rated | 1 | 37 |
| 2015 ES | 40 | 192.9 in | Not rated | 1 | 27 |
| 2014 ES | 40 | 192.9 in | Not rated | 1 | 39 |
Sources: EPA, NHTSA, Transport Canada, Wikimedia Commons. Not affiliated with NHTSA, the EPA or Lexus. How we calculate this →