The Toyota brief covers customer acquisition and retention activity, with a particular focus on cultivating leads using all media. It is not clear if there is an incumbent agency on Toyota's DM account.
The remits of Toyota's media agency Zenith Optimedia, digital agency Glue a nd ad agency CHI remain unchanged by Kitcatt Nohr's appointment.
Jon Pollock, general manager, marketing communications at Toyota (GB) said the car company had been seeking an agency that displayed "innovative strategic thinking and brilliant creative work to engage our customers".
"We chose Kitcatt Nohr because they excelled on all of the above and had a phenomenal understanding of our business DNA. We were also impressed with their highly effective work for Lexus."
Toyota is now the world's largest car maker in terms of sales volume, selling 8.97 million vehicles last year and pushing General Motors into second place after a 77-year reign at the top.
Its brands include Avensis, Aygo and Yaris.
The Kitcatt Nohr appointment comes at a time of huge turmoil in the car industry, with the key manufacturers forced to make redundancies and to stockpile unsold cars as demand plummets.
Business secretary Lord Mandelson has just unveiled a scheme allowing car manufacturers apply to the Bank of England for credit, which they can use to provide affordable loans to new car buyers.
Toyota has been hit by the global economic crisis, with global sales down 4 per cent in 2008. It is in the vanguard of car makers producing environmentally-friendly cars, unveiling its new, more powerful and economical Prius hybrid model at the Detroit Motor Show earlier this month.
Nohr said that the agency was "excited to be working with this innovative car manufacturer, particularly, in a year when they plan to launch several new models."