Generasi pertama Tucson diluncurkan 2001. Mengambil basis dari [[Hyundai ElantraSonata|ElantraSonata]] dan [[Kia SportageSorento]] 2002. Menempati kelas yang sama dengan [[Toyota Land Cruiser Prado]], [[Honda CR-VPilot]] dan [[Ford EscapeExplorer]].<ref>[http://automobiles.honda.com/tools/compare/select-competitor-similar.aspx?ModelName=CR-V&ModelYear=2009&AICGroupNum=5096&AICNum1=25708&LastState=%2Ftools%2Fcompare%2F%3FModelName%3DCR-V%26ModelYear%3D2009%26AICGroupNum%3D5096%26AICNum1%3D25708%26LastState%3D&Filter=&Mode=&Photo= Competitors of CR-V, Similar vehicles] the Official Honda Web Site</ref><ref>[http://www.hyundaiusa.com/vehicle/comparison/comparison.aspx?vehicle=Tucson&year=2009&trimID=24406 Similar Vehicles of Tucson] Hyundai Motor America</ref>
