The ESV was a 2-door, 2-seater concept car built to conform to the Japanese government's Experimental Safety Vehicle specifications and shown during the 1973 Tokyo Motor Show. The ESV was the 100th and final vehicle produced by Toyota under the ESV program. It was mostly similar to the ESV-2 except the ESV had larger, plastic bumpers and slight differences in the trim.
Safety features included 4-wheel anti-skid brakes, 4-beam headlights, air bags, silicone rubber front bumper mounted on internal shock absorbers and crumple zones. The front suspension used double wishbones.