Used 2021 Lexus ES for Sale nearMilwaukee, WI

How much does the 2021 Lexus ES cost?

Prices have softened 1.86% compared to this time last year, making it a favorable time to shop this model year.

There are 808 listings available, which gives you a solid 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, and many also value the quality it offers for the money. The overview points to the same core appeal: a comfortable, quiet, roomy sedan with a relaxed driving demeanor and a reputation for value. The main trade-offs are its polarizing design, unintuitive technology, and fairly pedestrian performance.

That makes it a strong fit if you want a cushy daily driver rather than something overtly sporty. 41.1% of listings are priced as good or great deals, which suggests there are still worthwhile opportunities in the market.

Is the 2021 Lexus ES reliable?

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

User feedback repeatedly points to reliability, dependability, and a trouble-free ownership experience, with many drivers describing it as a car you can count on over the long term. The expert evaluation also reinforces that theme by calling it comfortable and reliable, with a relaxed, easygoing character. Lexus’s cost-effectiveness commentary adds to the ownership appeal by framing the ES as a strong value in its segment.

For used buyers, the main long-term risk is less about core 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 74.6% 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 multiple owners. Focus on bodywork quality, panel alignment, tire wear, and whether the technology and driver-assistance systems operate as intended. Because this model emphasizes comfort and refinement, condition matters a lot: a neglected example can feel far less polished than a well-maintained one.

Key things to evaluate:

• Trim level: Standard, F Sport, Luxury, and Ultra Luxury are available, and the base trim misses blind-spot monitoring and rear cross-traffic alert. If you want the most appealing look and feel, F Sport adds 19-inch wheels, unique styling details, a rear spoiler, aluminum interior trim, F Sport instrumentation, and a black headliner.
• 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 driving character is relaxed rather than aggressive, and the adaptive damping setup adds Sport+ and Custom modes.
• Safety package: Lexus Safety System 2.0 is standard and 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 all versions except the base trim.
• Infotainment: The standard display is 8 inches, and an optional 12.3-inch widescreen display is available. All trim levels include Bluetooth, Apple CarPlay, Android Auto, Amazon Alexa, SiriusXM satellite radio, HD Radio, and connected services, while the larger screen adds dynamic navigation and Destination Assist.
• Fuel efficiency: The ES 350 is rated at 25 mpg in combined driving, and testing returned 22.9 mpg on the evaluation loop.

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 entry point, but it leaves out blind-spot monitoring and rear cross-traffic alert. It makes sense only if you want the lowest-cost way into the ES lineup and are comfortable adding fewer convenience and safety features.
• F Sport: This is the best-value trim if you want the ES to look and feel more distinctive. 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 trim to target if you want a more upscale daily driver without chasing the top of the range. It keeps the ES’s comfort-first personality while moving you closer to the model’s premium sweet spot.
• Ultra Luxury: This is the right choice if you want the most feature-rich ES experience and are willing to pay for it. User feedback specifically points to this trim for shoppers who want additional features.

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

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

It looks like a buyer-friendly market right now.

• Deal availability: 41.1% of listings are priced as good or great deals.
• Inventory: There are 808 listings available.
• Price trend: Prices have softened 1.86% compared with last year.
• Clean inventory: 74.6% 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 $31,126 sits slightly below last year's $31,715.

That softer pricing suggests the market has cooled a bit, which can help you buy more confidently now but may also temper near-term appreciation if you plan to resell soon. For a future seller, the current trend implies you should expect value retention to depend heavily on mileage, condition, and equipment rather than broad market momentum. Well-kept examples with desirable trims and strong feature content should still 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 all versions except the base trim.

One caveat is that the lane-centering system can feel intrusive at times, and the adaptive cruise can react more abruptly than you might expect in traffic.

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:

• 41.1% of listings are priced as good or great deals.
• At 74.6% accident-free, a meaningful share of listings has prior incidents — history verification is especially important.
• Price trend: Prices have softened 1.86% compared with last year.
• Owners rate it 4.86/5 — a strong satisfaction signal.
• The 2021 adds the ES 250 series and standard blind-spot monitoring on most trims.

Consider the 2020 if:

• At $29,626, the 2020 costs less than the current year's $31,126 average.
• It keeps the comfort-first formula and adds some in-cabin tech features.

Consider the 2022 if:

• At $34,736, the 2022 costs more than the current year's $31,126 average.
• It broadens powertrain choice with four-cylinder, six-cylinder, and hybrid options.

The bottom line: If you want the best balance of price, comfort, and feature content, the 2021 is the strongest all-around pick. If your priority is saving money, the 2020 is the better value play; if you want more powertrain flexibility and can spend more, the 2022 is worth a look.

These recommendations are based on CarGurus' proprietary market data from October 13, 2026, CarGurus experts' opinions, and generative AI.