RAV4s from the 2006 through 2011 model years and the Lexus HS 250h from the 2010 model year are involved in the recall.
Toyota says if the rear suspension nuts are not tightened properly after a wheel alignment, the arms can rust and separate from the vehicle. This could increase the risk of a crash.
At least nine accidents and three injuries related to the problem have been reported, according to the National Highway Traffic Safety Administration. At least 131 owners have complained about the issue to NHTSA and Toyota.
Toyota recalled the vehicles last August for the same issue, but a spokeswoman says the repair procedure was not correct.
The recall involves 780,584 vehicles in the U.S. and 100,000 in Canada.
Owners can contact the NHTSA's vehicle safety hotline at (800) 327-4236 or visit www.safercar.gov.
Toyota technicians will inspect the vehicles and replace suspension arms which are loose or rusted for free.