The recall covers vehicles made from 2005 to 2008.
The automaker says an engine control device may crack, causing harsh shifting, the check engine light to come on or difficulty starting.
In a limited number of instances, the engine can stop while being driven.
There are three unconfirmed accidents connected to the problem. One of the alleged accidents resulted in minor injuries.
Toyota will replace the problem engine part for free.
The auto giant says is will begin mailing out notifications to owners in mid-September.