The recall marks its second in as many months.
Affected models include the Prius hybrid, Corolla, Wish and other models produced from 2000 to 2011 in Japan, and from 2000 to 2009 overseas.
The recall was prompted by a problem with the steering intermediate extension shafts, which can suffer damage if sharp turns are made at slow speeds.
A second problem was reported with electric-powered water pumps, which may result in a failure of its hybrid systems.
The auto giant says no accidents have been reported related to the latest recall. Toyota says owners of vehicles covered by these recalls will receive an owner notification starting in December. Customers can get detailed information at www.toyota.com/recall and the Toyota Customer Experience Center at 1 (800) 331-4331.
Last month, 7.43 million vehicles were recalled for a faulty power-window switch that could cause fires.
ABC News contributed to this report.