The second-row seatbelts can be cut by the seat cushion frame in a severe crash.
Toyota has issued a major recall for the 2006-2012 RAV4 and 2012-2014 RAV4 EV, affecting 1.1 million vehicles sold in the US market.
The company warns that the second-row outboard seatbelt webbing could contact the metal seat-cushion frame in a severe frontal accident. The metal edge can slash the webbing and cause immediate seatbelt failure.
"If this occurs, the seat belt may not properly restrain the occupant, which could increase the risk of injury," Toyota said in a statement.
Service technicians will install resin covers on the metal cushion frame to prevent abrasion.
The company has not disclosed how it became aware of the defect, however a Bloomberg report suggests the problem has been suspected in a fatal accident in Canada and an injury in the US.