The visual updates include a new front fascia and headlights, along with an upgraded charger and interior trims.
The biggest change to the Model S is a thin slat that replaces a more conventional-looking grille.
The changes went into production on Tuesday at Tesla's Fremont, California factory.
The 2016 Model S 70D is priced at $76,500, including a $1,200 destination charge, according to the Tesla configurator. The price of the Model S increased by $1,500 in April.
The high-performance Model S P90D starts at $109,500, including shipping.
The standard charger in the Model S is upgraded from 40 amps to 48 amps, "enabling faster charging when connected to higher amperage charging sources," Tesla said in a statement.
Buyers get two new interior trim choices: Figured Ash Wood Décor and Dark Ash Wood Décor.
The Model S now gets the same high-tech air filtration system previously offered only on the Model X.
"As always, we will continue to add new features and functionality to Model S through over-the-air software updates," Tesla said.
Edmunds says: This is the first update of the look of the Model S in almost four years.