The first generation was available as 4-door estate, and the smaller kei car model called the Terios Kid, which was only released in Japan (see Japanese-language article Terios Kid).
In 2000, Daihatsu gave the Terios a mild facelift both in the exterior and interior of the vehicle. A new chrome grille replaced the black plastic grille. The high-grade model gained electric front windows, central locking, rear seat head restraints, alloy wheels, roof rails and a roof-mounted rear spoiler. Mechanically, the 1.3 litre SOHC four-cylinder engine fitted to the previous model had been replaced by the new 1.3 litre DOHC four-cylinder engine. Power was also increased by 3 kW (4 hp). A sport version of the K3-VET engine was produced on Japan.
In Australia, a limited edition sports series was introduced in 2001 with only 200 units being available. The vehicle had body colour matching bumpers, different from the two-tone bumper colour on the standard model. Rear spoiler and sunroof became standard. The interior was updated with metallic paint finish on the centre console and dashboard.
- Terios (first generation)
- J100G 1997-1999 "HC-EJ" SOHC 1295 cc engine 89 PS (65 kW; 88 hp) 4WD
- J102G 2000-2004 4WD
- engine "K3-VE" DOHC 1297 cc engine 92 PS (68 kW; 91 hp)
- engine "K3-VET" DOHC 1297 cc Turbo engine 140 PS (103 kW; 138 hp)
- J122G 2000-2004 2WD type ( K3-VE / K3-VET )
- Terios Kid (still available in Japanese domestic market as kei car)
- J111G ( EF-DEM ) 1998-2005 Light pressure turbo 659 cc 4WD 60 PS (44 kW; 59 hp)
- J111G ( EF-DET ) 1998- Inter cooler turbo 659 cc 4WD 64 PS (47 kW; 63 hp)
- J131G ( EF-DEM ) 1998-2005 Light pressure turbo 659 cc 2WD 60 PS (44 kW; 59 hp)
- J131G ( EF-DET ) 1998- Inter cooler turbo 659 cc 2WD 64 PS (47 kW; 63 hp)
- Terios Lucia (limited edition)
- J111G / J131G for 2002 only; variation of Terios Kid (without spare tire)