Used 2021 Lexus ES for Sale nearDenver, CO

How much does the 2021 Lexus ES cost?

Prices have softened 1.59% compared to this time last year, making it a favorable time to shop this model year.

There are 746 listings available, which suggests solid inventory for shoppers comparing prices and trims.

Is the 2021 Lexus ES a good car?

Yes — the 2021 Lexus ES earns a 4.9/5 user rating and a 7.3/10 expert rating. The standout strength is Cost effectiveness at 9/10.

Drivers consistently praise its luxurious feel, smooth ride, fuel efficiency, and overall value. The model also fits shoppers who want a quiet, comfortable daily driver with a roomy cabin and a relaxed driving demeanor. On the trade-off side, the expert review points to fairly pedestrian performance and unintuitive technology.

For buyers who care more about smoothness, comfort, and everyday ease than sharp responses or flashy features, that combination lines up well with the ES’s mission. 41.2% of listings are priced as good or great deals, which is a healthy sign of market availability.

Is the 2021 Lexus ES reliable?

Owners rate it 4.9/5, a strong signal of long-term satisfaction.

Drivers describe it as reliable, smooth, and trouble-free, with many saying it feels like a car you can count on for daily use. The expert review also reinforces that dependability theme by calling it cushy, comfortable, and reliable, with a relaxed driving demeanor and a roomy, quiet cabin. The cost-effectiveness discussion adds that it delivers strong value for a larger luxury sedan.

For used buyers, the main long-term ownership risk is less about durability and more about whether the technology and driving character match your expectations over time.

What should I look for when buying a used 2021 Lexus ES?

At 72.7% accident-free, a meaningful share of listings has prior incidents — history verification is especially important.

You should start with a vehicle history report and then prioritize a pre-purchase inspection, especially if the car has had any prior damage or repair work. Focus on overall condition, panel alignment, tire wear, and how the cabin electronics and driver-assistance features operate in real-world use. Because this model is valued for comfort and refinement, you’ll want to make sure the car still feels quiet, smooth, and well cared for.

Key things to evaluate:

• Trim level: Standard trim is the key gap to watch because blind-spot monitoring and rear cross-traffic alert are standard on all versions except the base trim. F Sport adds 19-inch wheels with a gray finish, unique front and rear styling details, a rear spoiler, aluminum interior trim, F Sport instrumentation, and a black headliner. Luxury and Ultra Luxury trims are also available, and the Black Line Special Edition adds black wheels, black side mirrors, a black rear spoiler, and a black and white interior.
• Powertrain: The ES 350 uses a 3.5-liter V6 with 302 horsepower and 267 pound-feet of torque, paired with an eight-speed automatic and front-wheel drive. The lineup also includes a 2.5-liter four-cylinder ES 250 with standard all-wheel drive, plus the ES 300h hybrid.
• Safety package: Every 2021 ES includes Lexus Safety System 2.0, which bundles forward-collision warning with pedestrian and cyclist detection, automatic emergency braking, lane-departure warning, lane-keeping assistance, lane-centering assistance, adaptive cruise control with stop-and-go capability, a road-sign recognition system, and automatic high-beam headlights. Blind-spot monitoring and rear cross-traffic alert are standard on all versions except the base trim.
• Infotainment: All trims include an 8-inch display, Bluetooth, Apple CarPlay, Android Auto, Amazon Alexa, SiriusXM satellite radio, HD Radio, connected services, and a 10-speaker premium sound system. A 12.3-inch widescreen display is available, along with dynamic navigation, Destination Assist, and a 17-speaker Mark Levinson audio system.
• Fuel efficiency: The ES 350 is rated at 25 mpg in combined driving, and testing returned 22.9 mpg. The hybrid version is described as providing a significant gain in fuel economy.

Which 2021 Lexus ES trim should I buy?

The 2021 Lexus ES is offered in 4 trim levels: Standard, F Sport, Luxury, and Ultra Luxury.

Here's the short version:

• Standard: This is the value-oriented starting point if you want the ES’s comfort, quiet cabin, and core safety tech without paying for extras. It gives you the essentials, but it also misses blind-spot monitoring and rear cross-traffic alert, so it’s the trim where you’ll feel the biggest feature gap.
• F Sport: This is the best fit if you want the most distinctive look and a more engaging setup. It adds 19-inch wheels, unique styling details, a rear spoiler, F Sport instrumentation, and available adaptive damping with Sport+ and Custom modes, making it the most appealing choice for shoppers who want the ES to feel a little sharper.
• Luxury: This is the trim to target if you want the ES’s comfort-first personality with a more upscale feel. It keeps the model’s relaxed character while moving you closer to the richer equipment mix that suits the car’s quiet, refined mission.
• Ultra Luxury: This is the top comfort-focused choice for buyers who want the most premium ES experience. It makes the most sense if you value added features and a more indulgent cabin over sportier styling.

The safety package is strongest once you move above the base trim, where blind-spot monitoring and rear cross-traffic alert become standard.

Is now a good time to buy a used 2021 Lexus ES?

It looks like a buyer-friendly market right now.

• Deal availability: 41.2% of listings are priced as good or great deals.
• Inventory: There are 746 listings available.
• Price trend: Prices have softened 1.59% compared with last year.
• Clean inventory: 72.7% of listings are accident-free.

If you find a listing below $29,976, that's toward the low end of the year-round range and worth acting on quickly.

What is the 2021 Lexus ES's resale value?

The current average of $30,785 sits slightly below last year's $31,283.

That softer pricing suggests the model has become a bit easier for buyers to access, which can help keep demand steady in the used market. For a future seller, that means you may not see rapid appreciation, but the ES’s comfort-focused appeal and broad buyer interest can help support a stable resale position. Its strong value reputation also helps it stand out in a segment where shoppers often compare it against more expensive alternatives.

Vehicles with strong owner satisfaction ratings, like this model year's 4.9/5, tend to retain buyer demand, which supports resale value over time.

Is the 2021 Lexus ES safe?

The 2021 Lexus ES earns a Top Safety Pick+ rating from IIHS and a five-star overall rating from NHTSA.

It earns a 7/10 safety score from our experts.

Every 2021 ES includes Lexus Safety System 2.0, which bundles forward-collision warning with pedestrian and cyclist detection, automatic emergency braking, lane-departure warning, lane-keeping assistance, lane-centering assistance, adaptive cruise control with stop-and-go capability, a road-sign recognition system, and automatic high-beam headlights. Blind-spot monitoring and rear cross-traffic alert are standard on all versions except the base trim.

The expert review notes that the driver-assistance systems are effective overall, though lane-centering can sometimes feel like it puts up a fight and adaptive cruise may react a bit abruptly when traffic cuts in.

Should I buy a 2021 Lexus ES or consider a different year?

If you're weighing the 2021 against nearby model years, here's how to think about it:

Choose the 2021 if:

• 41.2% of listings are priced as good or great deals.
• At 72.7% accident-free, a meaningful share of listings has prior incidents — history verification is especially important.
• Price trend: Prices have softened 1.59% compared with last year.
• Owners rate it 4.9/5 — a strong satisfaction signal.
• It combines comfort, value, and refinement with multiple powertrain options and a strong safety package.

Consider the 2020 if:

• At $28,763, the 2020 costs less than the current year's $30,785 average.
• It keeps the comfort-first formula and adds some in-cabin tech features.

Consider the 2022 if:

• At $33,970, the 2022 costs more than the current year's $30,785 average.
• It adds four-cylinder, six-cylinder, and hybrid powertrain choices.

The bottom line: The 2021 is the best all-around pick if you want the strongest mix of value, comfort, and market availability. If you’re especially price-sensitive, the 2020 is the cheaper path into the same comfort-first formula.

How does the 2021 Lexus ES compare to the 2021 Toyota Avalon?

Expert Pros & Cons (per CarGurus review team)

2021 Lexus ES:

• Pros: Multiple powertrain options, Great ride quality, Comfortable.
• Cons: Potentially polarizing design, Unintuitive technology, Fairly pedestrian performance.

2021 Toyota Avalon:

• Pros: Comfortable, Spacious, TRD trim adds extra performance and style.
• Cons: All-wheel drive only available with the I-4 engine, Underwhelming base engine, Outdated technology.

Our experts score the 2021 Lexus ES 7.3/10 and the 2021 Toyota Avalon 6/10. The Lexus ES is the better choice if you want a more refined luxury feel and multiple powertrain options. The Avalon counters with more space and a lower starting price, but its technology and base engine are less compelling. If you care most about comfort and polish, the ES has the edge; if value and room matter more, the Avalon is worth a look.

These recommendations are based on CarGurus' proprietary market data from November 10, 2026, CarGurus experts' opinions, and generative AI.