Used 2021 Lexus ES for Sale nearDenver, CO

How much does the 2021 Lexus ES cost?

Prices have softened 1.41% compared to this time last year, making it a favorable time to shop this model year.

There are 793 listings available, which suggests you have a workable amount of inventory to compare.

Is the 2021 Lexus ES a good car?

Yes — the 2021 Lexus ES earns a 4.86/5 user rating and a 7.33/10 expert rating. The standout strength is Cost effectiveness at 9/10.

Drivers consistently praise its luxurious feel, smooth ride, and fuel efficiency. The model is also repeatedly described as comfortable, quiet, and reliable, with many owners appreciating the value it delivers for the money.

The main trade-offs are a potentially polarizing design and unintuitive technology. The overall use case is clear: if you want a relaxed luxury sedan that prioritizes comfort and refinement over excitement, this model fits that brief well.

Only 39.0% of listings are priced as good or great deals, so the market is selective rather than deeply discounted.

Is the 2021 Lexus ES reliable?

Owners rate it 4.86/5, a strong signal of long-term satisfaction.

Drivers describe it as reliable, dependable, and trouble-free, with several comments pointing to confidence in long-term ownership. The expert summary also reinforces that it is a comfortable and reliable car with a relaxed demeanor.

The performance notes support that impression by describing the car as unexpectedly competent and genuinely enjoyable in its sportier settings. Lexus also includes the first scheduled maintenance visit on the house, which helps reduce early ownership friction.

For used buyers, the main long-term risk is less about durability and more about whether the car was maintained well and used gently.

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

At 74.1% 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 thorough pre-purchase inspection. Focus on bodywork quality, signs of prior repair, and whether the car’s electronics and driver-assistance systems operate as intended.

Key things to evaluate:

• Trim level: Standard, F Sport, Luxury, and Ultra Luxury trims are available for the ES 350, and the base trim misses blind-spot monitoring and rear cross-traffic alert.
• 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 transmission and front-wheel drive.
• Safety package: Lexus Safety System 2.0 includes 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, road-sign recognition, and automatic high-beam headlights.
• Infotainment: Standard equipment includes 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 system.
• Fuel efficiency: The EPA rates the ES 350 at 25 mpg in combined driving, and testing returned 22.9 mpg.

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, but you should know it misses blind-spot monitoring and rear cross-traffic alert. It makes sense if you want the lowest entry price and are comfortable adding features through careful shopping.
• F Sport: This is the best-value trim if you want the most personality. It adds 19-inch wheels, unique styling details, a rear spoiler, aluminum interior trim, F Sport instrumentation, and a black headliner, and it pairs especially well with the available adaptive damping suspension.
• Luxury: This is the better pick if you want the ES experience to lean more toward comfort and upscale features than visual flair. It suits you if refinement matters more than a sportier look.
• Ultra Luxury: This is the most feature-rich choice and fits you best if you want the most premium version of the ES without stepping outside the model.

Blind-spot monitoring and rear cross-traffic alert are standard on every version except the base trim.

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

This is a moderate market for selective buyers, with enough inventory to shop carefully and enough pricing softness to create opportunities.

• Deal availability: 39.0% of listings are priced as good or great deals.
• Inventory: There are 793 listings available.
• Price trend: Prices have softened 1.41% compared with last year.
• Clean inventory: 74.1% of listings are accident-free.

If you find a listing below $29,998, 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 $31,380 sits slightly below last year's $31,830.

That modest decline suggests the market has softened, but not dramatically. For a future seller, that means the car still holds a meaningful share of its value, though you should not expect a strong appreciation story.

The good news is that demand should remain supported by the model’s comfort, reliability, and broad appeal to buyers who want a refined sedan. Well-kept examples with strong equipment and clean history should be easier to move than neglected ones.

Vehicles with strong owner satisfaction ratings, like this model year's 4.86/5, 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+ from IIHS and a five-star overall rating from NHTSA.

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

Lexus Safety System 2.0 is standard, and it includes 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, road-sign recognition, and automatic high-beam headlights. Blind-spot monitoring and rear cross-traffic alert are standard on every version except the base trim.

The main caveat is that the lane-centering system can be a bit fussy in real-world use, and the adaptive cruise can react more abruptly than a human driver in some traffic situations.

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:

• 39.0% of listings are priced as good or great deals.
• At 74.1% accident-free, a meaningful share of listings has prior incidents — history verification is especially important.
• Price trend: Prices have softened 1.41% compared with last year.
• Owners rate it 4.86/5 — a strong satisfaction signal.
• It adds the new ES 250 series and broadens the lineup with more standard safety equipment.

Consider the 2020 if:

• At $30,084, the 2020 costs less than the current year's $31,380 average.
• It keeps the comfort-first formula and adds some in-cabin tech features.

Consider the 2022 if:

• At $35,362, the 2022 costs more than the current year's $31,380 average.
• It broadens powertrain choice with four-cylinder, six-cylinder, and hybrid options.

The bottom line: The 2021 is the better all-around pick if you want the strongest mix of value, comfort, and safety equipment. If your priority is spending less, the 2020 is the smarter budget path; if you want more powertrain variety and are willing to pay more, the 2022 is worth a look.

These recommendations are based on CarGurus' proprietary market data from September 15, 2026, CarGurus experts' opinions, and generative AI.