Used 2021 Lexus ES for Sale nearSan Francisco, CA

How much does the 2021 Lexus ES cost?

Prices have softened 1.53% compared to this time last year, making it a favorable time to shop this model year.

There are 784 listings available, which gives you a solid pool of options to compare.

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 model’s comfort-first personality fits buyers who want a quiet daily driver, and the overview points to a roomy cabin and relaxed driving demeanor as core strengths. The main trade-offs are a design that may be polarizing and technology that can feel unintuitive, while performance is described as fairly pedestrian. Even so, the market shows 40.9% good or great deals, which suggests there are still attractive opportunities if you shop carefully.

Is the 2021 Lexus ES reliable?

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

Drivers describe it as reliable, and the feedback also points to a dependable, trouble-free ownership experience that you can count on over time. The expert evaluation reinforces that impression by calling it comfortable and reliable, with a relaxed driving demeanor and a quiet cabin. Lexus also includes a first scheduled maintenance visit on the house. For used buyers, the main long-term risk is less about durability and more about finding a well-kept example with the right maintenance history.

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

At 72.3% 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 thorough pre-purchase inspection, especially if the car has been in any collision. Focus on overall condition, signs of prior repair quality, and whether the equipment level matches what you expect for the trim. Because the ES is positioned as a comfort-first luxury sedan, you’ll want to make sure the cabin, electronics, and driver-assistance features all work as intended.

Key things to evaluate:

• Trim level: Standard, F Sport, Luxury, and Ultra Luxury 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, 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: The standard setup uses an 8-inch display, while an optional 12.3-inch widescreen display adds dynamic navigation and Destination Assist; all trim levels include Bluetooth, Apple CarPlay, Android Auto, Amazon Alexa, SiriusXM satellite radio, HD Radio, and connected services.
• Fuel efficiency: The EPA rates the ES 350 at 25 mpg combined, 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, 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 engaging version of the ES, with distinctive styling, 19-inch wheels, and available adaptive damping that adds Sport+ and Custom drive modes.
• Luxury: This is the better pick if you want a more upscale feel and a stronger comfort focus without going all the way to the top trim.
• Ultra Luxury: This is the right choice if you want the most feature-rich ES and are willing to pay for the added equipment.

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?

It looks like a buyer-friendly market right now, with solid deal availability and a healthy number of listings to compare.

• Deal availability: 40.9% of listings are priced as good or great deals.
• Inventory: There are 784 listings available.
• Price trend: Prices have softened 1.53% compared with last year.
• Clean inventory: 72.3% of listings are accident-free.

If you find a listing below $29,976, 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 $30,952 sits slightly below last year's $31,432.

That softer pricing suggests the model has become a bit more accessible for used buyers, which can help keep demand steady. For a future seller, that means you may not see rapid appreciation, but the car’s comfort-focused appeal and broad buyer interest can still support a stable resale position. Strong value perception matters here, especially when the car is viewed as a refined, practical luxury sedan rather than a niche performance model.

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+ rating 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 every version except the base trim. The expert review also notes that the lane-centering system can sometimes be fussy in real-world use, so you should test those features during your 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:

• 40.9% of listings are priced as good or great deals.
• At 72.3% accident-free, a meaningful share of listings has prior incidents — history verification is especially important.
• Price trend: Prices have softened 1.53% compared with last year.
• Owners rate it 4.9/5 — a strong satisfaction signal.
• The 2021 adds the new ES 250 series and standard blind-spot monitoring on most trims.

Consider the 2020 if:

• At $29,207, the 2020 costs less than the current year's $30,952 average.
• It keeps the comfort-first formula and adds some in-cabin tech features.

Consider the 2022 if:

• At $34,184, the 2022 costs more than the current year's $30,952 average.
• It broadens the powertrain lineup with four-cylinder, six-cylinder, and hybrid choices.

The bottom line: If you want the best balance of price, satisfaction, and market availability, the 2021 is the primary path to consider. If you’re especially price-sensitive, the 2020 can save you money while preserving the ES’s core comfort and refinement.

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 leans harder into ride quality, comfort, and a more upscale feel, while the Avalon counters with space and a TRD option for buyers who want a little more personality. If you care most about refinement and a stronger overall expert score, the ES is the better pick. If you want a roomier mainstream sedan and can live with older-feeling tech, the Avalon remains a reasonable alternative.

These recommendations are based on CarGurus' proprietary market data from October 27, 2026, CarGurus experts' opinions, and generative AI.