Some specific components in the power brake assist "can prematurely wear and could lead to a sudden loss of power braking assist" increasing the risk of a crash, the company said.
The involved vehicles are some 2018 and 2019 models of the Camry, the company added.
Models with non-power assisted braking will remain functional, the company clarified.
U.S.-listed shares of Toyota edged 0.67% lower to $184.96.
For all involved vehicles, Toyota dealers will inspect the vacuum pump and repair or replace it for free , the company said.
Owners of affected vehicles will be notified by mid-January 2022.