2002 Mazda Millenia
2 trims · 4 configurations · Sedan
Starting MSRP
$28,075 – $31,675
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Manufacturer specs and trim data below are still available for research. Check back for dealer inventory, or browse other Mazda models.
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How much should you pay for the Mazda Millenia? Select a trim to update purchase and lease estimates.
MSRP by trim
Select a trim to update the payment estimates. MSRP is for each trim's base configuration and excludes destination, taxes, and options.
Purchase information
Based on Premium
Total price (Premium MSRP)
$28,075
Typical monthly
$556/mo
Avg. APR
7.00%
60-month loan estimate for good credit (rates as of 2026-07-11). Not a credit offer; actual APR varies by lender, credit, and dealer.
Open loan calculatorCompare 2002 Mazda Millenia trims
Premium
2 configurations
- MSRP
- $28,075 – $28,875
- Fuel economy (city/hwy)
- 17/24
- Horsepower
- 170 hp
- Torque
- 160 lb-ft
- Engine
- 2.5L V6 gas
- Seating
- 5
- Drivetrain
- FWD
- Cargo (cu ft)
- 13.3
- Max towing
- —
S
2 configurations
- MSRP
- $31,075 – $31,675
- Fuel economy (city/hwy)
- 17/25
- Horsepower
- 210 hp
- Torque
- 210 lb-ft
- Engine
- 2.3L V6 gas
- Seating
- 5
- Drivetrain
- FWD
- Cargo (cu ft)
- 13.3
- Max towing
- —
| Spec | Premium2 configurations | S2 configurations |
|---|---|---|
| MSRP | $28,075 – $28,875 | $31,075 – $31,675 |
| Fuel economy (city/hwy) | 17/24 | 17/25 |
| Horsepower | 170 hp | 210 hp |
| Torque | 160 lb-ft | 210 lb-ft |
| Engine | 2.5L V6 gas | 2.3L V6 gas |
| Seating | 5 | 5 |
| Drivetrain | FWD | FWD |
| Cargo (cu ft) | 13.3 | 13.3 |
| Max towing | — | — |
Specifications shown for each trim’s base configuration; drivetrain, cab, and box options vary within a trim, and MSRP shows the full range. MSRP excludes destination fees, taxes, and dealer-installed options.
Full specifications
Shown for each trim's base configuration. Drivetrain, cab, and box options within a trim can change dimensions, capacities, and fuel economy.
Engine & drivetrain
- Engine type
- PremiumgasSgas
- Fuel type
- Premiumregular unleadedSpremium unleaded (required)
- Cylinders
- PremiumV6SV6
- Displacement
- Premium2.5 LS2.3 L
- Horsepower
- Premium170 hpS210 hp
- Torque
- Premium160 lb-ftS210 lb-ft
- Transmission
- Premium4-speed automaticS4-speed automatic
- Drivetrain
- Premiumfront wheel driveSfront wheel drive
Dimensions
- Body type
- PremiumSedanSSedan
- Doors
- Premium4S4
- Seating
- Premium5S5
- Length
- Premium191.6 inS191.6 in
- Width
- Premium69.7 inS69.7 in
- Height
- Premium54.9 inS54.9 in
- Wheelbase
- Premium108.3 inS108.3 in
- Ground clearance
- Premium4.9 inS4.9 in
Capacity & weight
- Cargo capacity
- Premium13.3 cu ftS13.3 cu ft
- Max cargo capacity
- Premium13.3 cu ftS13.3 cu ft
- Curb weight
- Premium3,358 lbsS3,488 lbs
- Fuel tank
- Premium18 galS18 gal
Fuel economy & EV
- Combined MPG
- Premium20S20
- City MPG
- Premium17S17
- Highway MPG
- Premium24S25
| Spec | Premium | S |
|---|---|---|
| Engine & drivetrain | ||
| Engine type | gas | gas |
| Fuel type | regular unleaded | premium unleaded (required) |
| Cylinders | V6 | V6 |
| Displacement | 2.5 L | 2.3 L |
| Horsepower | 170 hp | 210 hp |
| Torque | 160 lb-ft | 210 lb-ft |
| Transmission | 4-speed automatic | 4-speed automatic |
| Drivetrain | front wheel drive | front wheel drive |
| Dimensions | ||
| Body type | Sedan | Sedan |
| Doors | 4 | 4 |
| Seating | 5 | 5 |
| Length | 191.6 in | 191.6 in |
| Width | 69.7 in | 69.7 in |
| Height | 54.9 in | 54.9 in |
| Wheelbase | 108.3 in | 108.3 in |
| Ground clearance | 4.9 in | 4.9 in |
| Capacity & weight | ||
| Cargo capacity | 13.3 cu ft | 13.3 cu ft |
| Max cargo capacity | 13.3 cu ft | 13.3 cu ft |
| Curb weight | 3,358 lbs | 3,488 lbs |
| Fuel tank | 18 gal | 18 gal |
| Fuel economy & EV | ||
| Combined MPG | 20 | 20 |
| City MPG | 17 | 17 |
| Highway MPG | 24 | 25 |