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Presumably Steed's first car in The Avengers is a Rolls Royce in series 1 and he obviously used another more downmarket vehicle too, when the Rolls Royce was "too showy". (Please Don't Feed the Animals)
Then he drove four different cars in series 2 and 3: a Greyhound, followed by a Triumph Herald, an Alvis, a Lagonda.
A Vauxhall and different Bentleys are his cars in series 4 and 5.
He drove a Bentley and two different Rolls Royces again in series 6.

During The New Avengers Steed's cars were a Jaguar and Rovers.
Rolls Royces

Greyhound

Triumph Herald

Alvis Tourer

Lagonda

Vauxhall

Bentleys

TNA Jaguar and Rovers





Information about the cars (especially the Bentley and Rolls Royces from series 6) are based on:

IMCDB
Cars used in the TV series The Avengers

David Smith's avenging vehicle section

Vintage Bentley.org
Damaged Cars

Destroyed Cars

Other Vehicles used by Steed



Patrick Macnee's Jaguar in The Avengers

Which cars used Steed when?



Model Cars
Fanzine articles about John Steed's driving and his cars

Geoff Barlow: Motoring Avengers Style, in: Stay Tuned, Volume 1, Issue 1, pages 23 -26
fictional information about how John Steed learned to drive and why he likes the Bentley so much.
Steed's Cars