The recall includes model year 2010 to 2012 Prius vehicles, including 2010 and 2012 Prius Plug-in Hybrids, plus 2011 and 2012 Lexus CT 200h vehicles.
The automaker said that the affected cars are equipped with air-bag inflators that may have a small crack that could grow over time, which could ultimately lead to the air bags inflating.
If a passenger is in the car at the time of such an event, Toyota said, there is an increased risk of injury.
Toyota said it will be notifying all known owners by mail and will install retention brackets, which would prevent the air bags from entering the vehicle interior, at no cost to customers.
Customers can check their vehicle status on Toyota's website.