The third generation (XU50) was unveiled in the spring of 2013 at the New York Auto Show. The car's design became more expressive, featuring a bold grille and a sleeker silhouette. The body grew longer and wider, increasing seating capacity to up to eight passengers (in models equipped with a second-row bench seat). Engineers focused heavily on handling: the rear MacPherson strut suspension was replaced by a more compact double-wishbone setup, and the steering was retuned. The engine lineup included a 2.7-liter four-cylinder (185 hp) and a 3.5-liter V6 (270 hp), while the hybrid version produced 280 hp.

A significant update occurred in 2016 for the 2017 model year. The crossover received a new 8-speed automatic transmission and an upgraded 3.5-liter V6 with direct injection (D-4S), boosting output to 295 hp. The exterior was refreshed with new lighting and a massive trapezoidal front grille. The most important addition was the inclusion of the Toyota Safety Sense P suite of active safety features as standard equipment across all trims, further cementing its status as an ideal family vehicle.