The first-generation Hyundai Veloster (FS chassis) debuted at the North American International Auto Show in January 2011. Designed to target lifestyle buyers, the Veloster stood out with its innovative asymmetrical body layout: one large door on the driver side and two doors on the passenger side for easier rear cabin access.

Powertrains comprised a 1.6-liter Gamma GDI engine (138 hp) and a high-performance 1.6-liter Gamma T-GDI engine delivering 201 hp in the Veloster Turbo trim. Gearboxes included a six-speed manual, six-speed automatic, and Hyundai's first six-speed dual-clutch transmission (DCT). A 2015 update upgraded the turbo model to a seven-speed DCT.