| Image | Model years | Engines/Transmissions |
| Taurus MT5 |
|
1986–1988 |
|
| Taurus L |
 |
1986–1991 |
- 2.5 L HSC I4 (sedans, 1986–1990)
- 88 hp (66 kW), 130 lb⋅ft (176 N⋅m)
- 3-speed ATX automatic
- 3.0 L Vulcan V6 (Optional in sedans, standard in wagons, 1986–1990)
- 140 hp (104 kW), 160 lb⋅ft (217 N⋅m)
- 4-speed AXOD automatic
|
| Taurus GL |
 |
1986–1991 |
- 2.5 L HSC I4 (sedans, 1986–1990)
- 88 hp (66 kW), 130 lb⋅ft (176 N⋅m)
- 3-speed ATX automatic
- 3.0 L Vulcan V6 (Optional in sedans, standard in wagons, 1986–1990)
- 140 hp (104 kW), 160 lb⋅ft (217 N⋅m)
- 4-speed AXOD automatic
- 3.8 L Essex V6 (Optional, 1988–1991)
- 120 hp (89 kW), 205 lb⋅ft (278 N⋅m) (1988–1990)
- 140 hp (104 kW), 215 lb⋅ft (292 N⋅m) (1991)
- 4-speed AXOD automatic (1988–1990)
- 4-speed AXOD-E automatic (1991)
|
| Taurus LX |
 |
1986–1991 |
- 3.0 L Vulcan V6 (1986–1987; sedans, 1988–1990)
- 140 hp (104 kW), 160 lb⋅ft (217 N⋅m)
- 4-speed AXOD automatic
- 3.8 L Essex V6 (Optional in sedans, standard in wagons, 1988–1991)
- 120 hp (89 kW), 205 lb⋅ft (278 N⋅m) (1988–1990)
- 140 hp (104 kW), 215 lb⋅ft (292 N⋅m) (1991)
- 4-speed AXOD automatic (1988–1990)
- 4-speed AXOD-E automatic (1991)
|
| Taurus SHO |
 |
1989–1991 |
|
| Image | Years | Engines/Transmissions |
| Taurus L |
 |
1992 |
|
| Taurus GL |
 |
1992–1995 |
|
| Taurus LX |
 |
1992–1995 |
- 3.0 L SFI Vulcan V6 (Not available on Wagon)
- 140 hp (104 kW), 160 lb⋅ft (217 N⋅m) (1992)
- 140 hp (104 kW), 165 lb⋅ft (224 N⋅m) (1993–1995)
- 4-speed AXOD-E automatic (1992)
- 4-speed AX4S automatic (1993–1995)
|
| Taurus SE |
|
1995 |
|
| Taurus SHO |
 |
1992–1995 |
- 3.0 L SHO V6 (Only available with manual, 1992–1995)
- 220 hp (164 kW), 200 lb⋅ft (271 N⋅m)
- 5-speed MTX-IV manual (1992–1995)
- 3.2 L SHO V6 (Only available with automatic, 1993–1995)
- 220 hp (164 kW), 215 lb⋅ft (292 N⋅m)
- 4-speed AX4S automatic (1993–1995)
|
| Image | Years | Engines/Transmissions |
| Taurus G |
 |
1996–1997 |
|
| Taurus GL |
 |
1996–1997 |
|
| Taurus LX |
 |
1996–1997 |
|
| Taurus SHO |
 |
1996–1997 |
|
| Image | Years | Engines/Transmissions |
| Taurus LX |
 |
1998–1999 |
|
| Taurus SE |
 |
1998–1999 |
|
| Taurus SHO |
 |
1998–1999 |
|
| Image | Years | Engines/Transmissions |
| Taurus LX |
 |
2000–2004 |
|
| Taurus SE |
 |
2000–2007 |
|
Taurus SE Special Value Group (2000) Taurus SES (2001–2004) |
 |
2000–2004 |
|
Taurus SE Comfort (2000) Taurus SEL (2001–2007) |
 |
2000–2007 |
|
| Image | Years | Engines/Transmissions |
| Taurus SEL |
 |
2008–2009 |
|
| Taurus Limited |
 |
2008–2009 |
|
| Image | Years | Engines/Transmissions |
| Taurus SE, SEL, Limited |
 |
2010–2019 |
- 2.0 L Inline four-cylinder I4
- 240 hp (179 kW), 270 lb⋅ft (366 N⋅m) (2013–2017)
- 3.5 L Cyclone V6
- 263 hp (196 kW), 249 lb⋅ft (338 N⋅m) (2010–2012)
- 288 hp (215 kW), 254 lb⋅ft (344 N⋅m) (2013–2019)
- 6-speed 6F automatic
|
| Taurus SHO |
 |
2010–2019 |
|