Used 2021 Lexus ES for Sale nearGreensboro, NC

How much does the 2021 Lexus ES cost?

Prices have softened 1.58% compared to this time last year, making it a favorable time to shop this model year.

There are 780 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, and fuel efficiency, and many also value the quality and overall value it delivers. The overview points to a roomy cabin and a relaxed driving demeanor, which fits buyers who want a cushy daily driver rather than something overtly sporty. On the downside, experts call out a polarizing design, unintuitive technology, and fairly pedestrian performance.

The 36.7% share of good or great deals suggests there are still worthwhile listings to find if you shop carefully.

Is the 2021 Lexus ES reliable?

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

User feedback highlights reliability, value, and a car that feels dependable for everyday use. The expert evaluation also emphasizes the ES as a comfortable and reliable sedan with a relaxed driving character. Lexus’s cost-effectiveness commentary reinforces the sense that this is a car built to be easy to live with over time.

For used buyers, the main long-term ownership risk is less about outright durability and more about choosing a well-kept example with the right equipment and condition.

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

At 73.3% 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 higher mileage or visible cosmetic wear. Focus on how the cabin electronics, driver-assistance features, and ride quality work in real-world use, since those are central to the ES experience. If you are comparing multiple listings, condition and maintenance history should matter more than small price differences.

Key things to evaluate:

• Trim level: Standard, F Sport, Luxury, and Ultra Luxury are available for the ES 350, and the standard trim misses blind-spot monitoring and rear cross-traffic alert.
• Powertrain: The ES 350 uses a 3.5-liter V6 with 302 horsepower and an eight-speed automatic, while the ES 250 uses a 2.5-liter four-cylinder with standard all-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: The standard screen is 8 inches, and the available 12.3-inch display adds a dynamic navigation system and Destination Assist; Bluetooth, Apple CarPlay, Android Auto, Amazon Alexa, SiriusXM satellite radio, HD Radio, and connected services are included.
• Fuel efficiency: The ES 350 is rated 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 give up blind-spot monitoring and rear cross-traffic alert, so it makes the most sense only if price matters more than convenience and safety extras.
• F Sport: This is the best-value trim if you want the most distinctive look and a more engaging feel, with unique styling details, 19-inch wheels, and available adaptive damping hardware.
• Luxury: This is the better pick if you want a more upscale daily driver with a stronger comfort focus and more of the features that suit the ES’s relaxed personality.
• Ultra Luxury: This is the right choice if you want the most fully equipped version and are willing to pay for the richest feature set.

Lexus makes blind-spot monitoring and rear cross-traffic alert standard on all versions except the standard trim.

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

This looks like a moderate, selective buyer’s market, so you can shop patiently but should move quickly on strong listings.

• Deal availability: 36.7% of listings are priced as good or great deals.
• Inventory: There are 780 listings available.
• Price trend: Prices have softened 1.58% compared with last year.
• Clean inventory: 73.3% of listings are accident-free.

If you find a listing below $29,980, 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 $30,985 sits slightly below last year's $31,481.

That softer pricing suggests the market has become a bit more favorable for buyers, which can also mean future sellers may need to stay competitive on condition and mileage. The year-round range shows there is still room for well-kept examples to command stronger prices, especially if they are clean and well equipped. If you buy carefully now, you may be better positioned to preserve value later.

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+ 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, road-sign recognition, and automatic high-beam headlights. Blind-spot monitoring and rear cross-traffic alert are standard on all versions except the base trim.

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:

• 36.7% of listings are priced as good or great deals.
• At 73.3% accident-free, a meaningful share of listings has prior incidents — history verification is especially important.
• Price trend: Prices have softened 1.58% compared with last year.
• Owners rate it 4.9/5 — a strong satisfaction signal.
• The 2021 adds the new ES 250 series and expands trim and powertrain flexibility.

Consider the 2020 if:

• At $29,352, the 2020 costs less than the current year's $30,985 average.
• It keeps the comfort-first formula with added in-cabin tech.

Consider the 2022 if:

• At $34,317, the 2022 costs more than the current year's $30,985 average.
• It broadens powertrain choices and emphasizes comfort and refinement.

The bottom line: The 2021 is the best all-around pick if you want the strongest mix of value, comfort, and available inventory. If your budget is tighter, the 2020 is the smarter price-first alternative.

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 feels like the more polished luxury choice, especially if you care about ride quality and a more upscale cabin. The Avalon counters with more space and a lower starting price, but its technology and base-engine appeal are weaker. If you want the more refined overall package, the ES is the better bet; if value and room matter more, the Avalon deserves a look.

These recommendations are based on CarGurus' proprietary market data from October 21, 2026, CarGurus experts' opinions, and generative AI.