The base price is for the three-door 2017 Yaris L model with a 1.5-liter four-cylinder engine and a five-speed manual transmission.
The five-door 2017 Yaris SE with a four-speed automatic transmission is priced at $18,865.
Toyota said overall prices for the 2017 Yaris rose by $355.
This is a carryover vehicle with minimal changes for the new model year.
Toyota Safety Sense C is now standard on all Yaris models. The safety system includes automatic high beams, a lane-departure alert and a pre-collision system.
Edmunds says: Value-minded entry-level shoppers will find a modest price increase and a safety upgrade on the 2017 Yaris.