The vehicles affected are Tundra pick-up trucks and Sequoia, Land Cruiser Prado and 4Runner/Hilux Surf SUVs built between May 2001 and December 2003.
The majority of affected vehicles were sold in the US, while the rest were sold in Japan, Europe and Australia.
Toyota said the surface of a ball joint that connects to the front suspension may have been scratched when it was manufactured. This could lead to wear and tear over time.
Excessive wear or looseness in the joint could force drivers to use more effort steering.
A Toyota spokesman said there had been one report of an accident in Japan.
Toyota did not give details of how much the recall would cost.
The company said that it will start notifying owners in July about how to get free repairs.