The First Toyota Crown Majesta was introduced in Japan in October 1991. It looked very similar to its sibling, the Toyota Crown. At first the Toyota Crown Majesta was a trim level variant of the Toyota Crown series, called the Crown Royal Saloon G. The Majesta was an ultra-luxurious variant of the Toyota Crown and was slightly wider and heavier, but had 2 large engine choices. the 3.0 L 2JZ-GE engine borrowed from the Lexus GS, Toyota Supra and Toyota Soarer which produced 226bhp (169kW; 229PS). The second engine offered was the 4.0L 1UZ-FE shared with the Lexus LS400. This engine was remarkably quiet and smooth and suited the Crown Majesta's comfortable and luxurious status. The 4.0 L engine had 256bhp (191kW; 260PS). In 1992, four wheel steering was offered in compliance with the four wheel drive system, called 4WDi-Four. This boosted the cars handling and gave it increased traction and grip in wet and icy conditions. The Toyota Crown Majesta was very advanced for this time. It had options of a GPS navigation system, electric power steering, four wheel steering, and a Head-up display that projected key information on the inside windshield surface, above the instrument cluster. Prices for the Crown Majesta started at USD $32,100 for the lowest spec 3.0A model and rose to USD $51,000 for the V8 with four wheel steering. There was also an option for electric front and rear seats and heated front and rear seats.
The Crown Majesta was remodeled and released September 1995. Enhancements were made to the tail lamps with a vertical appearance to provide a distinguished difference from the Toyota Crown which uses a horizontal tail light design, similar to the Lexus LS made during this era. Some of the styling details to include the shape of the dashboard and the treatment of the rear window, tail lights and trunk lid are reminiscent of the Cadillac Deville of the same time period. The straight 6 engine is no longer offered. The V8 horsepower rating is improved to 265PS (195kW; 261bhp) . Due to a softening economy in Japan, the equipment offered was simplified due to cost cutting efforts.