Toyota Motor Corp. recalled 247,000 vehicles that have an air bag that can rupture and send shrapnel into the passenger compartment, an expansion of an earlier recall that affected other models using the safety device built by supplier Takata Corp.

The recall of five Toyota models and one General Motors Co. vehicle that was built on the same manufacturing line as one of the Toyota models came after Takata tested several air bags earlier this month that were recovered from vehicles located in the Southeastern U.S., where there...