All RX models came standard with dual front airbags, front row side torso airbags, side curtain airbags, a driver's knee airbag, Vehicle Stability Control (VDIM on RX 400h) and a tire-pressure monitoring system standard. An Adaptive Front-lighting System (AFS) with HID headlamps and a backup camera (w/navigation system) were optional.
The Lexus RX received a "Good" overall rating in the IIHS frontal crash test.
NHTSA crash test results in 2004 rated the RX 330 the maximum five stars in the Frontal Driver, Frontal Passenger, Side Driver, and Side Rear Passenger categories, and four of five stars in the Rollover category.