The fourth-generation Crown Majesta was placed on the market in July 2004. Using the 12th-generation Crown that came out in December 2003 (commonly known as the "Zero Crown") as the base model, the Majesta added its own front and rear body design, interior accessories, and engine variations. The large front grille, projector-type headlamps, and vertical rear combination lamps were among its characteristic exterior features. While its wheelbase was the same as that of the Crown at 2,850 mm (50 mm larger than the previous generation), the Majesta's length and width were larger by 135 mm and 15 mm, respectively, than those of the Crown. The Crown badge on the front grille was replaced with the Toyota emblem.

The V8 DOHC 4.3-liter engine (3UZ-FE) was shared with the Celsior and the Soarer. The transmission was a 6-speed automatic (6 Super ECT). Either a front-engine, rear-wheel-drive (FR) or an i-Four 4-wheel-drive configuration could be chosen. The FR model offered a radar cruise control for automatically adjusting the distance from the car in front by means of a laser radar system when driving at speeds below 30 km/h.

With the discontinuation of the Celsior line in June 2006, the Crown Majesta became the top-end model of the Toyota brand cars.