Last seen in concept form at the 2013 Tokyo Motor Show, the four-door model marks the carmaker’s first fuel cell sedan, with the carmaker saying that: ‘Hydrogen has great potential as an alternative fuel. It could also be used in a much wider range of applications beyond automotive and domestic use, including large-scale power generation.’

Although specifications have not been released, Toyota said that the Fuel Cell Sedan delivers performance and a cruising range similar to that of a petrol-engined vehicle, and refuelling takes roughly three minutes. When driven, the car's only tailpipe emission is water vapour, produced by the chemical reaction between the hydrogen and oxygen.

Toyota added that in Japan the Fuel Cell Sedan will be sold at Toyota and Toyopet dealerships, priced at approximately seven million yen (about £40,450). Initially sales will be limited to those parts of the country where a hydrogen refuelling infrastructure is under development.

Prices for Europe and the USA have not yet been decided and will be announced later along with specifications and sales expectations.

Karl Schlicht, executive vice president Toyota Motor Europe, said: ‘We are very excited by the arrival of fuel cell technology. Of course there are many challenges ahead, such as the availability of fuelling infrastructure and customer awareness. But our history with hybrid gives us all the experience we need to bring a new technology to the market.

‘In Europe we will be taking it step by step, gradually introducing the car in selected markets. But we are confident that hydrogen will become increasingly popular as a way of powering vehicles.’