Used 2021 Lexus ES for Sale nearSan Francisco, CA

How much does the 2021 Lexus ES cost?

Prices have softened 1.43% compared to this time last year, making it a favorable time to shop this model year.

There are 815 listings available, which suggests a modest but 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, and they also value the quality and value it delivers for the money. The overview points to a roomy cabin and a relaxed driving demeanor, which fits buyers who want comfort and refinement more than excitement. On the trade-off side, the design may be polarizing, the technology is unintuitive, and performance is fairly pedestrian.

The market also looks reasonably supportive, with 37.4% of listings marked as good or great deals.

Is the 2021 Lexus ES reliable?

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

User feedback also emphasizes that the car feels reliable, dependable, and trouble-free, with many owners describing it as a vehicle they can count on over the long term. The expert evaluation reinforces that impression by describing the ES as comfortable and reliable, with a relaxed driving demeanor and a quiet cabin. The cost-effectiveness commentary also notes that Lexus’s first scheduled maintenance visit is on the house.

For used buyers, the main long-term ownership risk is less about durability and more about whether the car’s condition and maintenance history match its strong reputation.

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 you’re considering a higher-mileage or lower-priced example. Focus on overall condition, signs of prior bodywork, and whether the car’s equipment matches the trim you want. Because the ES is a comfort-first luxury sedan, cabin condition and how well the electronics work matter a lot in day-to-day ownership.

Key things to evaluate:

• Trim level: Standard trim is the most basic version, while 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 add more upscale positioning, and the Black Line Special Edition brings blacked-out exterior details 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 ES 250 series uses a 2.5-liter four-cylinder with standard all-wheel drive, and the ES 300h hybrid is also offered.
• 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: 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, dynamic navigation, Destination Assist, and a 17-speaker Mark Levinson system are available.
• Fuel efficiency: The ES 350 is rated at 25 mpg in combined driving, and the test vehicle averaged 22.9 mpg on the evaluation loop.

Which 2021 Lexus ES trim should I buy?

The 2021 Lexus ES is offered in 8 trim levels: Standard, F Sport, Luxury, Ultra Luxury, ES 250 Standard, ES 250 F Sport, ES 250 Luxury, and ES 250 Ultra Luxury.

Here's the short version:

• Standard: This is the entry point, and it makes the ES’s comfort, quiet cabin, and strong safety foundation accessible at the lowest price. It’s the best fit if you want the core ES experience without paying for extra appearance or luxury upgrades.
• F Sport: This is the best-value trim if you want the ES to feel more distinctive, since it adds the sportier exterior and interior treatment, plus the available adaptive damping setup and Sport+ and Custom drive modes when equipped. It suits you if you want the most personality without moving into the highest-priced versions.
• Luxury: This trim is the better choice if you care more about upscale comfort than sporty styling. It makes the ES feel more premium and is a strong middle ground for shoppers who want a richer cabin.
• Ultra Luxury: This is the trim to choose if you want the most indulgent ES experience and are willing to pay for it. It’s the right pick for buyers who prioritize maximum comfort and features over value.

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?

This looks like a moderate, selective buyer’s market, so you have room to compare listings carefully.

• Deal availability: 37.4% of listings are priced as good or great deals.
• Inventory: There are 815 listings available.
• Price trend: Prices have softened 1.43% 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 $31,327 sits slightly below last year's $31,781.

That modest decline suggests the market has softened a bit, which can help you as a buyer today but may temper short-term gains if you plan to resell soon. Even so, the ES’s strong reputation for comfort, value, and satisfaction should help it remain appealing to future shoppers. Its relatively stable pricing also suggests it is not experiencing a sharp drop that would signal weak demand.

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.

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 expert testing notes that the driver-assistance systems are effective overall, though lane-centering can be a little fussy and the adaptive cruise can react more abruptly than a human driver might in cut-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:

• 37.4% 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 1.43% compared with last year.
• Owners rate it 4.86/5 — a strong satisfaction signal.
• The 2021 adds the ES 250 series and a broader trim lineup, giving you more ways to tailor the car.

Consider the 2020 if:

• At $29,984, the 2020 costs less than the current year's $31,327 average.
• It keeps the same comfort-first formula with a serene ride and a quiet, well-appointed cabin.

Consider the 2022 if:

• At $35,442, the 2022 costs more than the current year's $31,327 average.
• It broadens powertrain choice with four-cylinder, six-cylinder, and hybrid options.

The bottom line: If you want the strongest mix of value, comfort, and available inventory, the 2021 is the sweet spot. If your budget is tighter, the 2020 is the better price-first alternative, while the 2022 makes sense if you want to spend more for a newer model-year option.

These recommendations are based on CarGurus' proprietary market data from September 11, 2026, CarGurus experts' opinions, and generative AI.