diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index f74b07e8c..02fcb36e5 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -2,7 +2,7 @@ int toyota_giraffe_switch_1 = 0;          // is giraffe switch 1 high?
 int toyota_camera_forwarded = 0;          // should we forward the camera bus?
 
 // global torque limit
-const int TOYOTA_MAX_TORQUE = 1600;       // max torque cmd allowed ever
+const int TOYOTA_MAX_TORQUE = 1500;       // max torque cmd allowed ever
 
 // rate based torque limit + stay within actually applied
 // packet is sent at 100hz, so this limit is 1000/sec
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 56f8db13e..8197a7922 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -21,7 +21,7 @@ ACCEL_SCALE = max(ACCEL_MAX, -ACCEL_MIN)
 
 # Steer torque limits
 class SteerLimitParams:
-  STEER_MAX = 1600
+  STEER_MAX = 1500
   STEER_DELTA_UP = 10       # 1.5s time to peak torque
   STEER_DELTA_DOWN = 25     # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50)
   STEER_ERROR_MAX = 350     # max delta between torque cmd and torque motor