In July 1980, the Daihatsu Mira arrived to replace the Daihatsu Max Cuore. The second generation (L70) of the Mira was introduced in 1985, and the third generation (L200) in 1990. The third generation of Mira also sharing the identical look with the 1986-1992 Daihatsu Leeza. The fourth generation (L500) was introduced in 1994 and was still based on the same chassis as the L200. October 1998 saw the fifth generation (L700) introduced, 2002 the sixth generation (even though the Mira Gino (L700) was still in production until 2004), and in 2006 the seventh generation model.

The L200 variant (1990–92) had two engine sizes: a .65L 3-cylinder 660 cc engine was available in Japan, while in Australia and other part of the world, a more powerful variant with 847 cc and a 4-speed manual gearbox was in use from 1990–91. A 5-speed manual transmission came into force in 1992. The L500 Mira is the first kei car from Daihatsu which offer 4-cylinder 660 cc engine.

The 660 cc Japanese variant of the Mira had a rather unusual feature for a modern car: the rear passenger seats were designed and manufactured without rear seat-belts being fitted.