A reinforced front- and rear-structure passenger compartment forms the foundation for passive safety in the Lexus ES 350. In addition to advanced dual-stage front airbags and front seat-mounted side airbags, the Lexus Supplemental Restraint System includes rear seat-mounted side air bags (previously optional, now standard), side-curtain airbags that extend from the A-pillar to C-pillar and a knee airbag for both the driver and front passenger, for a total of 10 airbags throughout the cabin.

The optional Pre-Collision System (PCS) can help reduce collision damage. The package includes Dynamic Radar Cruise Control, which uses millimeter-wave radar to measure and help maintain a pre-set distance from a vehicle traveling ahead. The multi-information display within the combination meter will show a car icon with the selected following distance.

If, based on a variety of inputs, PCS determines that a collision is unavoidable, the system preemptively retracts the front seat belts and pre-initializes BA so that increased braking will be applied the instant the driver depresses the pedal. Active Braking can automatically apply the brakes up to a deceleration rate of 0.3 g if the driver fails to react to system warnings.

The optional dual-swivel Lexus Adaptive Front Lighting System (AFS) helps illuminate a turn or curve as the driver steers into it. A medium-to-high speed mode (over 19 mph) allows both the right and left front headlamp bulbs to swivel toward the direction of the turn at the same time.