The recall applies to about 233,000 Prius vehicles made between March and October 2009 and about 9,000 Lexus HS250h models made between June and October 2009.
The Prius vehicles affected are sold worldwide. The Lexus sedans are sold in the U.S., Canada and Japan.
Of the total, 91,000 were sold in North America, including 4,085 in Canada. Another 30,000 were sold in Europe.
Toyota Canada said it will mail recall notices to owners of 2010 Toyota Prius and Lexus HS250H vehicles. Its dealers will do a free inspection and install an improved brake booster pump assembly at no cost if a substandard part was used.
The automaker said brake pressure parts in the vehicles are made of a weak material that could crack due to vibration, slowing response times.
It said there were no accidents or injuries caused by the problem so far, but the company has received dozens of complaints.
Toyota suffered a blow to its reputation from a series of massive recalls in 2009 and 2010, including faulty braking, sticky gas pedals and defective floor mats.
— with a file from The Canadian Press in Toronto