The Lexus ES series is a family of midize sedans produced from 1989 to the present. The ES series has always been built off of the Toyota Camry platform and features a V6 engine and automatic transmission. The Camry and ES do generally not directly compete, as the ES offers a more upscale ride, more elegant styling, and more luxury features. From the second generation onwards, the ES is sold in Japan as the Toyota Windom.

The first ES (codename VZV21) debuted in 1989 as the ES 250 (the 250 denotes a 2.5 L engine) with the Camry's 156 hp V6. This car was not offered in Japan. Completely redesigned for 1992 and now based on the VCV10-series Toyota Windom, it was renamed the ES 300 to reflect the half-liter bump in engine displacement. This second generation was significantly larger and more curvacious (as was the Camry) and sported a 185 hp engine. The third generation (codename MCV20) appeared in 1997 with a 200 hp V6. The fourth generation (codename MCV30) debuted in 2002 displaying more interesting styling. Now that the sport end of the market was covered by the new Lexus IS, the ES became even more of a luxury car and dropped any sporting pretensions. For 2003 a new 3.3  engine making 225 hp replaced the old 3.0 L unit and the car was renamed ES 330. The ES 330's competitors include the Acura TL, Infiniti G35, Volvo S80.