The first generation Jaguar S Type made its debut in 2000, as a luxury model in the sedan category. The S Type was built on the same body as the Lincoln LS, but the former was built in the UK while the latter was built in the US. It was a four door sedan that could seat five people. It came in two versions - a Sedan 3.0 which derived its power from a 3.0 Liter V6 engine designed by Ford and the 4.0 which derived its power from a 4.0 Liter V8 engine produced by Jaguar. Both versions had disc brakes, airbags in the front and side, and 17 inch tires. The deluxe communication package came with a navigation system or an assistance system powered by a cell phone located in the dashboard, a system to monitor temperatures inside the car and music could be turned on or off by giving instructions by phone. In 2001, a system warning people the car was reversing was added, and the 4.0 Version got an expensive stereo system that was now located in the trunk. In 2002, a sports edition of the S Type was added to the lineup.

The second generation Jaguar S Type made its debut in 2003. The S Type came in three models - the entry level that was powered by a 3.0 liter V6 engine, an all new 4.2 model that was powered by a 4.2 Liter V8 and an R model powered by a supercharged 4.2 Liter V8. The new generation S Type got a re-tuned suspension, a system to prevent the vehicle from skidding and traction control and disc brakes for all four tires. The entry level had 16 inch tires, the 4.2 Liter 17 and the R 18 inch tires. Airbags on the side and a telescopic steering wheel were added to the S Type. In 2004, only the engine got more power. In 2005 a VDP edition was added to the option list for the 4.2 Liter model. The entry level got a new automatic gear system plus 17 inch tires. No changes were made to the car design or body in 2007 or 2008.