Used 2002 Mazda Millenia

Pros & Cons

  • Attractive exterior styling and interior design, supercharged Millenia S engine, competitive price.
  • Cramped interior, weak base engine, lack of brand cache, floaty highway ride, aging platform.
Other years
Mazda Millenia for Sale
List Price Estimate
$3,092 - $7,424

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Edmunds' Expert Review

Not really a luxury car and not really a sport sedan, Millenia is past its expiration date.

Vehicle overview

The Mazda Millenia leads a dual-purpose life. It comes in two versions: the Millenia and the Millenia S. In terms of price, the base Millenia competes against cars like the Honda Accord EX V6 and the Nissan Maxima, while the Millenia S goes up against sporty entry-level luxury cars like the Audi A4, Acura TL and Lincoln LS.

The Millenia has been around in its current iteration since 1995. To keep the car fresh, Mazda recently updated the car's styling. Never a standout in terms of design, the Millenia's revised hood, fenders, bumper, grille and headlights certainly helped matters. Today's Millenia is an attractive car.

Inside, leather trim is standard equipment. There's also a premium audio system, a center console with dual-level storage, a leather armrest cover, a 12-volt power point and dual covered cupholders. Dressed in a snazzy two-tone interior color scheme, Millenia's cabin boasts a leather-wrapped steering wheel, shift knob and parking brake. Rounding things out are items such as power lumbar support, rear-seat cupholders and retained accessory power. As was the case last year, traction control and heated front seats are part of the Four-Seasons package. The Special Edition package includes a special front grille, black exterior paint and a black-and-ivory trimmed interior.

The main difference between the Millenia and Millenia S is their engines. The base Millenia is powered by a 2.5-liter V6 that makes 170 horsepower at 5,800 rpm and 160 pound-feet of torque at 4,800 rpm. The supercharged 2.3-liter V6 in the Millenia S makes 210 horsepower at 5,300 rpm and 210 pound-feet of torque at 3,500 rpm. Both are equipped with four-speed automatic transmissions. The Millenia's 170 horsepower is a bit wanting, so it's best to step up to the Millenia S, if you're looking for power. Acceleration is strong, as long as summer heat isn't sapping the engine's strength. On the road, the Millenia's suspension does a good job of quelling body roll in turns, but exhibits an excessively floaty ride on the highway. Mazda considers the Nissan Maxima, the Infiniti I35, the Toyota Avalon and the Acura TL to be the Millenia's primary competitors. That's heady company, and given the Mazda's age, basic luxury amenities, interior packaging and dearth of performance capability, the 6 cannot arrive soon enough.

2002 Highlights

Now that the brilliant 6 sport sedan has been approved for production, the Millenia's days are numbered. Understandably, changes for 2002 barely register on the Richter scale. Are you ready for this? An auto-dimming mirror with compass is standard, and Snow White Pearl paint is changed to Snow Flake White Pearl paint. You can also get a Special Edition with a chrome-finished front grille, a black exterior and a black-and-ivory interior with titanium trim.


Overallundefined / 5

Consumer reviews

Read what other owners think about the 2002 Mazda Millenia.

Average user rating: 4.7 stars
90 total reviews
5 star reviews: 79%
4 star reviews: 15%
3 star reviews: 6%
2 star reviews: 0%
1 star reviews: 0%

Trending topics in reviews

  • appearance
  • value
  • reliability & manufacturing quality
  • handling & steering
  • comfort
  • driving experience
  • ride quality
  • road noise
  • acceleration
  • climate control
  • spaciousness
  • infotainment system
  • dashboard
  • maintenance & parts
  • engine
  • lights
  • transmission
  • oil
  • brakes
  • seats
  • wheels & tires
  • doors
  • emission system
  • visibility
  • interior
  • fuel efficiency
  • sound system
  • safety

Most helpful consumer reviews

3/5 stars, 2002 Millenia
Premium 4dr Sedan (2.5L 6cyl 4A)
I got this car with 137k miles on it and kept it for almost 5 years. This is a luxury car and is expensive to repair. I recommend financing a certified car if you want this. Something had to be changed every few months and it usually cost north of $1000. I spent around $2000 (and even more) every year to keep this car on the road. Parts are overpriced ($330 per engine mount is insane and there are 4 of them!). The check engine light is a huge issue with this car. As it ages, many exhaust components need to be changed (vacuum lines, egr port, catalytic converters, o2 sensors...the list goes on). I can only recommend this car to a mechanic or someone with deep pockets. It loves maintenance.
3.125/5 stars, Lemon?
Premium 4dr Sedan (2.5L 6cyl 4A)
I bought my Millenia new in 2002. Had problems with it from beginning. It is the white with gold bottom. Loved all the extras for the price. Very loud interior road noise. So bad you can't talk on cell. Engine light problems early on, caused by Mazda requiring premium fuel--which they later revised--but not until they had to work on the engine 5 times! Very tough dealing with Mazda. I read other reviews about how quiet theirs are. I wonder if we're talking about the same car. I even bought new tires that are supposed to be known for their quiet ride. When those didn't help, I realized it was the car. I'm glad all the others are satisfied. It was a lot of car for the price, but a lemon!
4.625/5 stars, S Model Problems
S 4dr Sedan (2.3L 6cyl S/C 4A)
I've had my S since 2002, always had basic maintenance done. It has 95000 anad is due for Timing belt change to the tune of $2500. Valve covers leaking into cylinders, misfiring and not burning all gas which might be hurting the cat converter. Might need ignition coils, clogged ECG valve. This car was fine until now and now its going to cost over $3500 or more to get these things fixed. Very expensive car to maintain with higher mileage. Think twice about buying a used S model unless you have deep pockets.
4.875/5 stars, Mazda Millenia
Premium 4dr Sedan (2.5L 6cyl 4A)
Bought this car in 2008, very good mileage 72,900. Love this car handles great good gas mileage looks great. Wish they bring them back 2011.

Features & Specs

MPG & Fuel
17 City / 24 Hwy / 20 Combined
Fuel Tank Capacity: 18 gal. capacity
5 seats
Type: front wheel drive
Transmission: 4-speed automatic
V6 cylinder
Horsepower: 170 hp @ 5800 rpm
Torque: 160 lb-ft @ 4800 rpm
Basic Warranty
3 yr./ 50000 mi.
Length: 191.6 in. / Height: 54.9 in. / Width: 69.7 in.
Curb Weight: 3358 lbs.
Cargo Capacity, All Seats In Place: 13.3 cu.ft.


NHTSA Overall Rating

The National Highway Transportation Safety Administration offers independent analysis.

Frontal Barrier Crash RatingRating
OverallNot Rated
DriverNot Rated
PassengerNot Rated
Side Crash RatingRating
OverallNot Rated
Side Barrier RatingRating
OverallNot Rated
Driver4 / 5
Passenger3 / 5
Combined Side Barrier & Pole RatingsRating
Front SeatNot Rated
Back SeatNot Rated
RolloverNot Rated
Dynamic Test ResultNo Tip
Risk Of RolloverNot Rated

IIHS Rating

The Insurance Institute of Highway Safety uses extensive crash tests to determine car safety.

Side Impact TestNot Tested
Roof Strength TestNot Tested
Rear Crash Protection / Head RestraintNot Tested
IIHS Small Overlap Front TestNot Tested
Moderate Overlap Front Test


Is the Mazda Millenia a good car?

The Edmunds experts tested the 2002 Millenia both on the road and at the track. You probably care about Mazda Millenia fuel economy, so it's important to know that the Millenia gets an EPA-estimated 20 mpg. What about cargo capacity? When you're thinking about carrying stuff in your new car, keep in mind that the Millenia has 13.3 cubic feet of trunk space. And then there's safety and reliability. Edmunds has all the latest NHTSA and IIHS crash-test scores, plus industry-leading expert and consumer reviews to help you understand what it's like to own and maintain a Mazda Millenia. Learn more

Is the Mazda Millenia reliable?

To determine whether the Mazda Millenia is reliable, read Edmunds' authentic consumer reviews, which come from real owners and reveal what it's like to live with the Millenia. Look for specific complaints that keep popping up in the reviews, and be sure to compare the Millenia's average consumer rating to that of competing vehicles. Learn more

Is the 2002 Mazda Millenia a good car?

There's a lot to consider if you're wondering whether the 2002 Mazda Millenia is a good car. Safety scores, fuel economy, cargo capacity and feature availability should all be factors in determining whether the 2002 Millenia is a good car for you. Check back soon for the official Edmunds Rating from our expert testing team Learn more

How much should I pay for a 2002 Mazda Millenia?

The least-expensive 2002 Mazda Millenia is the 2002 Mazda Millenia Premium 4dr Sedan (2.5L 6cyl 4A). Including destination charge, it arrives with a Manufacturer's Suggested Retail Price (MSRP) of about $28,075.

Other versions include:

  • Premium 4dr Sedan (2.5L 6cyl 4A) which starts at $28,075
  • S 4dr Sedan (2.3L 6cyl S/C 4A) which starts at $31,075
  • S Special Edition 4dr Sedan (2.3L 6cyl S/C 4A) which starts at $31,675
  • Premium Special Edition 4dr Sedan (2.5L 6cyl 4A) which starts at $28,875
Learn more

What are the different models of Mazda Millenia?

If you're interested in the Mazda Millenia, the next question is, which Millenia model is right for you? Millenia variants include Premium 4dr Sedan (2.5L 6cyl 4A), S 4dr Sedan (2.3L 6cyl S/C 4A), S Special Edition 4dr Sedan (2.3L 6cyl S/C 4A), and Premium Special Edition 4dr Sedan (2.5L 6cyl 4A). For a full list of Millenia models, check out Edmunds’ Features & Specs page. Learn more

More about the 2002 Mazda Millenia

Used 2002 Mazda Millenia Overview

The Used 2002 Mazda Millenia is offered in the following submodels: Millenia Sedan. Available styles include Premium 4dr Sedan (2.5L 6cyl 4A), S 4dr Sedan (2.3L 6cyl S/C 4A), S Special Edition 4dr Sedan (2.3L 6cyl S/C 4A), and Premium Special Edition 4dr Sedan (2.5L 6cyl 4A). Pre-owned Mazda Millenia models are available with a 2.5 L-liter gas engine or a 2.3 L-liter gas engine, with output up to 210 hp, depending on engine type. The Used 2002 Mazda Millenia comes with front wheel drive. Available transmissions include: 4-speed automatic. The Used 2002 Mazda Millenia comes with a 3 yr./ 50000 mi. basic warranty, a 3 yr./ 50000 mi. roadside warranty, and a 3 yr./ 50000 mi. powertrain warranty.

What do people think of the 2002 Mazda Millenia?

Consumer ratings and reviews are also available for the Used 2002 Mazda Millenia and all its trim types. Overall, Edmunds users rate the Used 2002 Millenia 4.7 on a scale of 1 to 5 stars. Edmunds consumer reviews allow users to sift through aggregated consumer reviews to understand what other drivers are saying about any vehicle in our database. Detailed rating breakdowns (including performance, comfort, value, interior, exterior design, build quality, and reliability) are available as well to provide shoppers with a comprehensive understanding of why customers like the Used 2002 Millenia.

Edmunds Expert Reviews

Edmunds experts have compiled a robust series of ratings and reviews for the 2002 Mazda Millenia and all model years in our database. Our rich content includes expert reviews and recommendations for the 2002 Millenia featuring deep dives into trim levels and features, performance, mpg, safety, interior, and driving. Edmunds also offers expert ratings, road test and performance data, long-term road tests, first-drive reviews, video reviews and more.

Our Review Process

This review was written by a member of Edmunds' editorial team of expert car reviewers. Our team drives every car you can buy. We put the vehicles through rigorous testing, evaluating how they drive and comparing them in detail to their competitors.

We're also regular people like you, so we pay attention to all the different ways people use their cars every day. We want to know if there's enough room for our families and our weekend gear and whether or not our favorite drink fits in the cupholder. Our editors want to help you make the best decision on a car that fits your life.

What's a good price for a New Used 2002 Mazda Millenia?

Used 2002 Mazda Millenia Premium 4dr Sedan (2.5L 6cyl 4A)

The Used 2002 Mazda Millenia Premium 4dr Sedan (2.5L 6cyl 4A) can be purchased for less than the Manufacturer’s Suggested Retail Price (aka MSRP) of $28,595. The average price paid for a new Used 2002 Mazda Millenia Premium 4dr Sedan (2.5L 6cyl 4A) is trending $26,039 below the manufacturer’s MSRP.

Edmunds members save an average of $26,039 by getting upfront special offers. The estimated special offer price in your area is $2,556.

The average savings for the Used 2002 Mazda Millenia Premium 4dr Sedan (2.5L 6cyl 4A) is 91.1% below the MSRP.

Used 2002 Mazda Millenia S 4dr Sedan (2.3L 6cyl S/C 4A)

The Used 2002 Mazda Millenia S 4dr Sedan (2.3L 6cyl S/C 4A) can be purchased for less than the Manufacturer’s Suggested Retail Price (aka MSRP) of $31,595. The average price paid for a new Used 2002 Mazda Millenia S 4dr Sedan (2.3L 6cyl S/C 4A) is trending $28,813 below the manufacturer’s MSRP.

Edmunds members save an average of $28,813 by getting upfront special offers. The estimated special offer price in your area is $2,782.

The average savings for the Used 2002 Mazda Millenia S 4dr Sedan (2.3L 6cyl S/C 4A) is 91.2% below the MSRP.

Which used 2002 Mazda Millenias are available in my area?

Shop Edmunds' car, SUV, and truck listings of over 6 million vehicles to find a cheap new, used, or certified pre-owned (CPO) 2002 Mazda Millenia for sale near. Simply research the type of car you're interested in and then select a used car from our massive database to find cheap prew-owned vehicles for sale near you. Once you have identified a used vehicle you're interested in, check the AutoCheck vehicle history reports, read dealer reviews, and find out what other owners paid for the Used 2002 Mazda Millenia.

Can't find a new 2002 Mazda Millenias you want in your area? Consider a broader search.

Find a new Mazda for sale - 6 great deals out of 14 listings starting at $20,187.

Why trust Edmunds?

Edmunds has deep data on over 6 million new, used, and certified pre-owned vehicles, including rich, trim-level features and specs information like: MSRP, average price paid, warranty information (basic, drivetrain, and maintenance), features (upholstery, bluetooth, navigation, heated seating, cooled seating, cruise control, parking assistance, keyless ignition, satellite radio, folding rears seats ,run flat tires, wheel type, tire size, wheel tire, sunroof, etc.), vehicle specifications (engine cylinder count, drivetrain, engine power, engine torque, engine displacement, transmission), fuel economy (city, highway, combined, fuel capacity, range), vehicle dimensions (length, width, seating capacity, cargo space), car safety, true cost to own. Edmunds also provides tools to allow shopper to compare vehicles to similar models of their choosing by warranty, interior features, exterior features, specifications, fuel economy, vehicle dimensions, consumer rating, edmunds rating, and color.

What is the MPG of a 2002 Mazda Millenia?

2002 Mazda Millenia Premium 4dr Sedan (2.5L 6cyl 4A), 4-speed automatic, regular unleaded
20 compined MPG,
17 city MPG/24 highway MPG

2002 Mazda Millenia S 4dr Sedan (2.3L 6cyl S/C 4A), 4-speed automatic, premium unleaded (required)
20 compined MPG,
17 city MPG/25 highway MPG

2002 Mazda Millenia S Special Edition 4dr Sedan (2.3L 6cyl S/C 4A), 4-speed automatic, premium unleaded (required)
20 compined MPG,
17 city MPG/25 highway MPG

EPA Est. MPG20
Transmission4-speed automatic
Drive Trainfront wheel drive
Displacement2.5 L
Passenger Volume91.4 cu.ft.
Wheelbase108.3 in.
Length191.6 in.
Width69.7 in.
Height54.9 in.
Curb Weight3358 lbs.

Should I lease or buy a 2002 Mazda Millenia?

Is it better to lease or buy a car? Ask most people and they'll probably tell you that car buying is the way to go. And from a financial perspective, it's true, provided you're willing to make higher monthly payments, pay off the loan in full and keep the car for a few years. Leasing, on the other hand, can be a less expensive option on a month-to-month basis. It's also good if you're someone who likes to drive a new car every three years or so.

Check out Mazda lease specials
Check out Mazda Millenia lease specials