The vehicle, which was unveiled at the 12th Auto Expo, has been launched in three different engine options, Toyota Kirloskar Motor said in a statement.
"Etios Cross will further expand the Etios family along with its existing models - Etios and Liva," it added.
The vehicle will also be exported from India, the company said.
While the petrol variants are priced at Rs 5.76 and Rs 7.35 lakh respectively, the diesel variants would cost Rs 6.9 lakh and Rs 7.4 lakh (all prices exshowroom Delhi).
"The B car segment is one of the fastest growing segments in the industry. Segment growth comes along with fast changing customer requirements. Customers today want a vehicle with unique styling that will make a statement," Toyota Kirloskar Motor Managing Director Naomi Ishii said.
Commenting on the launch Director and Senior Vice President, Sales and Marketing N Raja said Etios Cross marks the company's entry into yet another category in the diverse and fast growing B car segment.