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2024 Toyota Camry vs. 2024 Lexus ES: Price, MPG, Engines and Trims

The 2024 Camry started at a much lower MSRP and offered more powertrain choices; the ES lineup paired its higher launch price with distinct AWD, V6 and hybrid versions. Compare exact trims before deciding.
Entry281 Date Time6 min MechanicCarCody Team
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The 2024 Toyota Camry is the lower-priced, broader-choice lineup; the 2024 Lexus ES is the more upscale alternative with three distinct powertrains. Toyota’s original U.S. starting MSRP was $26,420 for the front-wheel-drive Camry LE, while Lexus listed the ES at $43,190 including delivery, processing and handling (DPH). Those are model-year launch prices—not current used-car values or dealer quotes. The right comparison depends on the exact trims: a Camry Hybrid and an ES 300h differ from a Camry V6 and an ES 350 in meaningful ways.

At a glance: what separates the 2024 Camry and ES?

Question 2024 Toyota Camry 2024 Lexus ES
Original U.S. starting price $26,420 for FWD LE, Toyota-announced MSRP $43,190 including DPH, Lexus-announced MSRP
Powertrain range Gas four-cylinder, hybrid, and V6; available AWD on selected configurations ES 250 AWD four-cylinder, ES 350 V6, or ES 300h hybrid
Most efficient cited configuration LE Hybrid: Toyota trim-page estimate of 51/53 MPG city/highway ES 300h: manufacturer estimate of 43/44/44 MPG city/highway/combined
V6 comparison Selected versions offer 301-hp 3.5-liter V6 ES 350 offers 302-hp 3.5-liter V6
Standard driver-assistance suite Toyota Safety Sense 2.5+ across the range, per Toyota Lexus Safety System+ 2.5 on every ES model, per Lexus

The figures are manufacturer-published specifications and estimates for U.S. 2024 models. They do not establish comparative crashworthiness, real-world fuel economy, or which used car is a better value.

How much did the 2024 Camry and Lexus ES cost new?

Toyota announced a $26,420 starting MSRP for the 2024 Camry LE with front-wheel drive. Lexus announced a $43,190 starting MSRP for the 2024 ES, including DPH. The difference positions the ES as the more expensive model at launch, but it is not a like-for-like trim or equipment comparison. Neither figure tells you what a specific 2024 car costs today.

Toyota’s model-page examples show how price and configuration varied within the Camry range:

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Selected 2024 Camry grade Published base price Published MPG estimate
LE FWD $26,420 28/39 city/highway
LE AWD $27,820 25/34 city/highway
LE Hybrid $28,855 51/53 city/highway
XLE Hybrid $33,745 44/47 city/highway
TRD $33,485 22/31 city/highway
XSE V6 $36,845 22/32 city/highway

These are selected Toyota-listed examples, not every grade or a complete price ladder. For a used-car purchase, compare listings for the exact year, trim, mileage, condition, equipment and location, then get an out-the-door quote. Original MSRP is useful for understanding launch positioning, not for estimating current market value.

Which engines and drivetrains are available?

Toyota Camry: four-cylinder, hybrid, V6 and selected AWD

The 2024 Camry lineup included a 2.5-liter four-cylinder in front-wheel-drive and available all-wheel-drive versions, hybrid grades, and selected grades with a 3.5-liter V6. Toyota listed 208 net system horsepower for the hybrid. Its trim range included LE, SE, SE Nightshade, XLE, XSE, TRD, V6 variants and hybrid grades. AWD availability depends on configuration; it is not a feature of every Camry.

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Lexus ES: ES 250 AWD, ES 350 or ES 300h

The U.S. ES lineup offered the ES 250 AWD, ES 350 and ES 300h, along with F SPORT Design and Handling variations. The ES 250 pairs a 203-hp 2.5-liter four-cylinder with AWD. The ES 350 uses a 302-hp 3.5-liter V6. The ES 300h is a hybrid with 215 net combined system horsepower. Lexus’s 2024 announcement also noted minor changes, including an available Technology Package and 18-inch Vapor Chrome-finish wheels standard on Ultra Luxury and available on Luxury.

Do not treat the two hybrid badges or the two V6 engines as interchangeable. The Camry and ES are different vehicles with different grades and equipment, and the cited horsepower figures do not describe acceleration or driving feel. Match the specific configurations you are considering.

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Which one gets better fuel economy?

Among the cited hybrid grades, Toyota lists the Camry LE Hybrid at 51/53 MPG city/highway, while Lexus lists the ES 300h at 43/44/44 MPG city/highway/combined. The Camry LE Hybrid figure is Toyota’s trim-page estimate; Toyota’s announcement separately reported 52 MPG combined. These are different presentations of the manufacturer’s estimates, so the figures should not be mixed into a single cycle or treated as guarantees.

For the V6 versions, Lexus gives the ES 350 a rating of 22/32/26 MPG city/highway/combined; the ES 350 F SPORT is listed at 22/31/25. Toyota’s selected XSE V6 example is listed at 22/32 MPG city/highway, while the TRD is listed at 22/31. The cited Camry page examples do not provide combined figures for those trims.

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The ES 250 AWD is listed at 25/34/28 MPG city/highway/combined. Toyota lists the Camry LE AWD at 25/34 city/highway, but the cited Camry example does not give a combined figure. EPA estimates vary by trim and drivetrain. Check the exact vehicle’s EPA label and consider your own route, traffic, weather and driving habits; published estimates do not guarantee real-world results.

How do safety and technology features compare?

Standard safety suites

Toyota says Toyota Safety Sense 2.5+ is standard across the 2024 Camry range. Toyota lists features including pre-collision assistance with pedestrian detection, radar cruise control, lane departure alert, automatic high beams, road-sign assist and lane tracing assist. Lexus says every 2024 ES model features Lexus Safety System+ 2.5. Feature operation and availability can vary by model and grade.

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The manufacturers’ descriptions identify standard suites; they do not prove that one car is safer in a crash. The available source information does not establish comparative crash-test ratings.

Infotainment and optional equipment

Lexus’s 2024 brochure describes Lexus Interface with wireless Apple CarPlay. Equipment varies by grade and package. For example, Lexus described an available Technology Package with a 12.3-inch touchscreen, SmartAccess Card Key and head-up display; those items should not be assumed to be standard on every ES. Verify the equipment on the individual car, especially when shopping used.

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Which should you choose?

Choose the Camry if your priorities point to value or variety

  • You want the lower original starting price and are comparing cars near the base of each lineup.
  • You want more powertrain character options, including a gas four-cylinder, hybrid, V6, or selected AWD configurations.
  • You are considering a hybrid primarily for fuel economy and want to compare the exact Camry grade against the ES 300h.

Consider the ES if its configuration and equipment fit your needs

  • You want to choose among an AWD four-cylinder, V6 or hybrid within the ES lineup.
  • You value the particular comfort or technology equipment on a specific ES grade or package; confirm that it is present on the car you are evaluating.
  • You are comparing an ES with a Camry that has similar powertrain and equipment, rather than assuming the base models are equivalent.

Neither launch MSRP nor fuel-economy estimates establish a total-cost winner. The available manufacturer information does not provide comparable insurance costs, depreciation, repair expenses or used-market values, so evaluate those separately for your location and the specific cars.

What to check when comparing used 2024 examples

  1. Identify the exact trim and drivetrain. Confirm whether the Camry is FWD or AWD, hybrid or gas, and whether it has a V6. For the ES, distinguish the 250 AWD, 350 and 300h, as well as F SPORT and package variations.
  2. Compare current asking prices and quotes. Use listings for similar condition, mileage and equipment, and request an out-the-door figure. Do not use historical launch MSRP as a current valuation.
  3. Check the EPA label for that grade. Compare city, highway and combined estimates on the same basis, then account for how and where you drive.
  4. Verify equipment on the actual vehicle. Review the window sticker or vehicle records for safety features, infotainment, comfort options and packages instead of inferring them from the model name.
  5. Evaluate ownership costs independently. Obtain insurance quotes and assess condition, service history and likely maintenance needs. The manufacturer specifications here do not establish comparative repair costs, depreciation or reliability.

Warranty and maintenance information

Toyota’s 2024 Camry announcement states a 36-month/36,000-mile basic warranty and 60-month/60,000-mile powertrain coverage. For hybrid models, it lists an 8-year/100,000-mile hybrid-system warranty and 10-year/150,000-mile hybrid-battery coverage. Toyota also states ToyotaCare scheduled maintenance for two years or 25,000 miles and roadside assistance for two years. These are the terms reported in Toyota’s model-year announcement; check the warranty booklet and vehicle history for coverage relevant to a particular used car.

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The cited Lexus materials do not establish comparable Lexus warranty or maintenance terms, so a direct warranty comparison cannot be made from these figures alone.

Sources for model-year specifications

Product prices and availability are accurate as of the date/time indicated and are subject to change. Any price and availability information displayed on Amazon at the time of purchase will apply.

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