The company says if rear suspension nuts aren't tightened properly after a wheel alignment, the arms can rust and separate from the vehicle.
Toyota reported nine crashes and three minor injuries from the problem.
RAV4s covered by the recall are from the 2006 to 2011 model years. The Lexus sedans are from 2010 only.
Toyota says it's developing a plan to fix the problem. It will notify owners by mail when it's time to take the vehicles into dealers for a free repair.
In the meantime, the company is telling drivers to contact their dealers if they hear an abnormal sound in the rear of the vehicle.