Released in August 1995, the second-generation Crown Majesta shared the platform with the simultaneously launched tenth-generation Crown. While inheriting the pillared hardtop styling, the second-generation Majesta adopted a more distinct rear design with vertical tail lamps. The instrument panels could be chosen from digital and analog designs, with the former adopting the virtual image display technology called the space vision meter.

The available engines were the same as the predecessor's, including a 3,968 cc 265 PS V8 (1UZ-FE) and a 2,997 cc 220 PS inline 6-cylinder (2JZ-GE), although the latter was upgraded with the VVT-i technology to improve the torque/output and fuel economy as well as to reduce the NOx/HC emissions. Newly added to the 4-wheel double wishbone and electronically controlled air suspension systems was the Skyhook control feature (which continuously controlled the damping force in response to the road conditions and the vehicle speed). The air suspension only came with the high-end C-type grade model, while other models used coil springs. The vehicle stability control system (VSC) was added to the 4-wheel-drive i-Four model. The anti-lock braking system (ABS) was standard-equipped, and the majority of models came with the traction control system (TRC).