Some Toyota engines have timing belts, some have timing chains. It pays to know what your engine has. Belts need to be replaced at normal intervals (usually every 90-100k on late model cars) or you will have hell to pay. Timing chains however are a different story and will generally last the lifetime of the engine. There are no prescribed timing chain replacement intervals.
Here is the complete list:

4Runner 1990-2000,2010 4 Cylinder Chain
1990-2002 V6 Belt
2003-2012 V6 Chain
2003-2009 V8 Belt
Avalon 1995-2004 V6 Belt
2005-2012 V6 Chain
Camry 1990-2001 All Belt
2002-2012 4 Cylinder Chain
1990-2006 V6 Belt
2007-2012 V6 Chain
Camry Hybrid 2007-2012 4 Cylinder Chain
Celica 1990-1999 4 Cylinder Belt
2000-2005 4 Cylinder Chain
Corolla 1990-1997 4 Cylinder Belt
1998-2012 4 Cylinder Chain
Cressida 1990-1992 L6 Belt
ECHO 2000-2005 4 Cylinder Chain
FJ Cruiser 2007-2012 V6 Chain
Highlander 2001-2008,2010-2012 4 Cylinder Chain
2001-2007 V6 Belt
2008-2012 V6 Chain
Highlander Hybrid 2006-2010 V6 Belt
2011-2012 V6 Chain
Land Cruiser 1990-1992 L6 Gear
1993-1997 L6 Chain
1998-2007 V8 Belt
2008-2012 V8 Chain
MR2 1990-1995 4 Cylinder Belt
MR2 Spyder 2000-2005 4 Cylinder Chain
Matrix 2003-2012 4 Cylinder Chain
Paseo 1992-1997 4 Cylinder Belt
Previa 1991-1997 4 Cylinder Chain
Prius 2001-2012 4 Cylinder Chain
RAV4 1996-2000 4 Cylinder Belt
2001-2012 4 Cylinder Chain
2006-2012 V6 Chain
Sequoia 2001-2007 V8 Belt
2009 4.7 V8 Belt
2010-2012 4.6 V8 Chain
2010-2012 5.7 V8 Chain
Sienna 2011-2012 4 Cylinder Chain
1998-2006 V6 Belt
2007-2012 V6 Chain
Solara 1999-2001 4 Cylinder Belt
2002-2008 4 Cylinder Chain
1999-2009 V6 Belt
Supra 1990-1998 L6 Belt
T100 1993-1998 4 Cylinder Chain
1993-1998 V6 Belt
Tacoma 1995-2012 4 Cylinder Chain
1995-2004 V6 Belt
2005-2012 V6 Chain
Tercel 1990-1998 4 Cylinder Belt
Truck 1990-1995 4 Cylinder Chain
1990-1995 V6 Belt
Tundra 2000-2004 V6 Belt
2005-2012 V6 Chain
2000-2009 4.7 V8 Belt
2010-2012 4.6 V8 Chain
2007-2012 5.7 V8 Chain
Venza 2009-2012 All Chain
Yaris 2007-2012 4 Cylinder Chain

*includes Prius V and Prius C

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