Sixth generation / T200 Series (1994-1999)

For 1994, Toyota completely revamped the Celica line. It was only available in ST and GT trims in the USA for the 1994 model year, but the addition of the optional "Sports Package" to the GT produced GT-S-like handling. The ST had a new 1.8 liter 7A-FE engine, while the GT was powered by the carried-over 2.2 liter 5S-FE, which could also be found in the Corolla and Camry respectively. The ST Celica has 1.8L 105 hp I4 110 Torque, and the GT Celica has a 2.2L 130 hp I4 144 @ 4000 RPM Torque.

In Canada, the GT Liftback with "Sports Package" is badged GT-S. Styling of the new Celicas was acclaimed by most publications as "Supra-esque" with four exposed headlights. Celicas were available in either notchback Coupe or Liftback form, with the GT Sports Package available only on the liftback. New safety equipment in the form of driver (and then later passenger) airbags were standard, and anti-lock brakes were available on all models. Many Celicas also sported CFC-free air conditioning.

Initially the Japanese domestic market (JDM) models were SS-I and SS-II. The ST205 GT-Four was launched in February 1994, and the Convertible in the Autumn of the same year.

Production of the All-Trac, or GT-Four ST205 as it was known outside the US, continued for the Japanese, Australian, European, and British markets. This version was to be the most powerful Celica produced to date, producing 178 kW/239 bhp (export version) or 187 kW/255 PS (JDM) from an updated 3S-GTE engine. Influenced strongly by Toyota Team Europe, Toyota's factory team in the World Rally Championship, the final version of the GT-Four included improvements such as an all aluminum hood to save weight, four-channel ABS (with G-force sensor), an improved turbocharger (incorrectly known by enthusiasts as the CT20B), and Super Strut Suspension. The 2500 homologation cars built to allow Toyota to enter the GT-Four as a Group A car in the World Rally Championship also sported extras such as all of the plumbing required to activate an anti-lag system, a water spray bar for the Intercooler's front heat exchanger, and the standard spoiler mounted on riser blocks. The car proved to be quite competitive in the 1995 World Championship. However, the team was banned from competition for a year after the car's single victory due to turbocharger fixing - a device that meant there was no air path restriction on the intake - when the jubilee clip was undone this would flick back in to place so as to go un-noticed by inspectors. Toyota has always claimed that they knew nothing of the fix - but opponents say it was one very cleverly engineered device. In some respects this car is a true sports car; in order to qualify for rallying it has a lot of special features and a unique strut arrangement.

In Australia, the ST204 (2.2 liter) was offered in SX and ZR trim levels. The ZR has standard fog lights, alloys, and other features. Australia also offered an SX-R model which included black/red interior, white Tachometer, fog lights and alloy wheels. The ST205 was the final GT-Four Celica which was only available in Australia in 1994. There was a limited delivery of only 77 ST205's with each vehicle including an individual numbered plaque in the cabin and Group A Rallye badges on the hatch.

1995 saw the introduction of the third generation convertible. Built off of the GT coupe, the conversion took place in the ASC facility in Rancho Dominguez, California. The vehicle arrived in the US as a partially assembled vehicle. At ASC, the roof was removed and a three-layer insulated and power-operated top was installed, producing a vehicle that was virtually water and windproof.

In August 1995, minor changes were given to all JDM models, and the SS-III was added into the line up. All front drive models received new front bumper and tail lights. The SS-III has standard Super Strut Suspension and side aerodynamic rocker panels. The GT-Four also got rocker panels, restyled rear spoiler, and new alloys.

The 1996 Celica received optional side skirts to improve its aerodynamic efficiency, as well as a redesigned rear spoiler. Also available were optional driving lights in the redesigned grille area (standard on GT models). To celebrate 25 years of Celica, the SS-I and SS-III Special Edition were released in Japan, and the 25th Anniversary ST Limited and GT Convertible marked this occasion in the USA. These Special Edition Celicas have special emblem on the front fenders, and the inside by sunroof, the name Celica is printed on the front seats as well.

For 1997, the only change in the North American Celica was the discontinuation of the GT coupe. Another minor change was given to JDM Celica in December 1997. Projector headlights are optional for all models. The 3S-GE engine on SS-II and SS-III received VVT-i, the SS-III was given a BEAMS Tuned 3S-GE engine. WRC style high rear spoiler returned on the GT-Four and also standard on the SS-III.

In 1998, the underpowered ST model was discontinued, leaving only GT models. In addition, the GT coupe returned after a year's absence. The Celica lineup was simplified even further for 2000 by eliminating all coupes, leaving only the GT Liftback and GT Convertible. In UK, Toyota released the SR based on the 1.8 ST. The SR has full body kit, mesh grille, 16 inch alloys, and upgraded sound system. The GT-Four was still offered in Japan. Also in 2000, Toyota released pictures of their XYR concept car, which would soon become the next Celica.