Used 2021 Lexus ES for Sale nearJanesville, WI

How much does the 2021 Lexus ES cost?

Prices have held steady compared to this time last year, signaling a stable and predictable market for this model year.

There are 767 listings available, which gives you a meaningful amount of inventory to compare. If you find a listing below $30,008.15, that's toward the low end of the year-round range and worth acting on quickly.

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, and many also value the quality and value it delivers relative to alternatives. The overview points to a roomy cabin and a relaxed driving demeanor, which fits the car’s comfort-first mission. The main trade-offs are its polarizing design, unintuitive technology, and fairly pedestrian performance.

With 27.0% of listings marked as good or great deals, you still have room to shop selectively if comfort and value are your priorities.

Is the 2021 Lexus ES reliable?

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

The user feedback also points to a reliable, dependable, and trouble-free ownership experience, with drivers describing it as a car they can count on over the long term. The expert summary reinforces that reputation by framing the ES as cushy, comfortable, and reliable, while the cost-effectiveness commentary supports the idea that it delivers a lot of value for the money. Lexus also includes the first scheduled maintenance visit on the house, which helps early ownership costs.

For used buyers, the main long-term risk is less about basic dependability and more about whether the car was maintained well and equipped with the features you want.

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 pre-purchase inspection, especially if the car has been in any prior collision. Focus on overall condition, feature operation, and whether the car’s equipment matches the trim you expect. Because the ES is positioned as a comfort-first luxury sedan, you should pay close attention to cabin wear, electronics, and any signs that the car was used heavily in daily commuting.

Key things to evaluate:

• Trim level: Standard, F Sport, Luxury, and Ultra Luxury trims are available, 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, while the ES 250 uses a 2.5-liter four-cylinder with standard all-wheel drive; the ES 350 is tuned for relaxed, confident driving rather than outright speed.
• 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, but the interface relies on a touchpad.
• Fuel efficiency: The ES 350 is rated at 25 mpg in combined driving, and the test loop 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, Ultra Luxury.

Here's the short version:

• Standard: This is the entry point, and it gives you the core ES comfort and safety experience, but you should note that blind-spot monitoring and rear cross-traffic alert are not standard here.
• F Sport: This is the best-value trim if you want the ES to feel more distinctive, since it adds sharper styling details and a more athletic character without changing the car’s comfort-first mission.
• Luxury: Choose this if you want the ES to lean harder into upscale comfort and a more premium-feeling daily drive.
• Ultra Luxury: This is the trim to target if you want the most feature-rich, comfort-focused version of the ES and are willing to pay for it.

Lexus Safety System 2.0 is standard across the lineup, but blind-spot monitoring and rear cross-traffic alert are not included on the base trim.

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

This is a moderate, selective buyer’s market, so you can shop carefully and still find worthwhile opportunities.

• Deal availability: 27.0% of listings are priced as good or great deals.
• Inventory: There are 767 listings available.
• Price trend: Prices have held steady compared with last year.
• Clean inventory: 74.1% of listings are accident-free.

If you find a listing below $30,008.15, 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 $31,482 sits slightly below last year's $31,685.

That small decline suggests the market has been stable rather than volatile, which is helpful if you plan to resell later. A steady price pattern can make it easier to estimate future value, especially for a model that already has a strong reputation for comfort and quality. Because demand tends to stay healthy for well-regarded luxury sedans, a clean, well-kept example should remain easier to move than one with accident history or heavy wear.

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 Insurance Institute for Highway Safety calls it a Top Safety Pick+ for 2021, while the National Highway Traffic Safety Administration gives it a five-star overall rating.

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. The lane-centering system can be a little fussy in real-world use, so you should test it during your own drive.

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:

• 27.0% 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 held steady compared with last year.
• Owners rate it 4.86/5 — a strong satisfaction signal.
• It blends comfort, value, and a more distinctive F Sport side in a class of one.

Consider the 2020 if:

• At $29,763, the 2020 costs less than the current year's $31,482 average.
• It keeps the comfort-first formula and adds some in-cabin tech.

Consider the 2022 if:

• At $35,615, the 2022 costs more than the current year's $31,482 average.
• It broadens powertrain choice while keeping the quiet, relaxed character.

The bottom line: If you want the best balance of price, comfort, and market availability, the 2021 is the strongest all-around pick. If you’re especially price-sensitive, the 2020 is the better value play, while the 2022 makes sense if you want to spend more for a newer model-year alternative.

These recommendations are based on CarGurus' proprietary market data from August 28, 2026, CarGurus experts' opinions, and generative AI.