Toyota is recalling 1.5 million vehicles in Japan, 670,000 vehicles in the United States and 496,000 vehicles in Europe over a problem in the steering intermediate extension shafts, which could be damaged at slow speed, a spokesman said.
The problem, in cars such as the second-generation Prius and certain Corolla models can be fixed in under an hour.
Separately, Toyota is also recalling 630,000 vehicles worldwide, including 350,000 in the United States and 175,000 in Japan, to fix water pumps in hybrid vehicles, Tachikawa said.
Some vehicles are target of both recalls, making the total number of vehicles to be recalled at 2.77 million, he said.
Toyota has sold about 3.3 million Prius hybrid vehicles globally since the car went on sale in December 1997.
More top news
Ewan Williamson,14, died from heatstroke in Australia after police took almost an hour to respond to his distress call, an inquest heard.
Explosives and suicide vests have been seized from a group of suspects stopped on Turkey's border with Syria, the Turkish army has said.
The teenager's family spoke of their "torment and pain" after serial killer Levi Bellfield finally confessed to her murder.