The recall affects 98,664 cars built between August 2005 and November 2012, spanning the third generation of the mid-sized SUV.
Toyota Australia states that in the event of an accident the seat belt material may become caught on a metal component, potentially severing the belt.
A fix of fitting a resin cover to the relevant area is available to affected owners and can be conducted at a Toyota dealer for no charge. The fix will take approximately 60 minutes.
The RAV4 was Australia's second-top selling medium SUV in 2015, with 18,435 units sold.
The seat belt issue does not impact new-generation RAV4 models.
The issue came to light after incidents were reported in North America, including a fatal accident in Canada and an injury to a passenger in the USA.
It has been noted that the recall affects 2.87 million cars worldwide. There have been no reported occurrences or injuries resulting from this issue in Australia.
Further details can be sought from Toyota by calling 1800 987 366 or visiting the Toyota website.