Toyota's U.S. December sales fell 1.7 percent to 190,843 vehicles, versus expectations of a slight gain.
Chrysler expects the industry to show a December annualized selling rate of 15.8 million vehicles.
Chrysler on Friday reported a 6 percent gain last month in its U.S. auto sales, to 161,007 vehicles. That was the automaker's best December since 2007, but still narrowly missed analyst expectations. Ram pickup truck sales rose 17 percent.
Jeep sales rose 34 percent in the month, led by the new Cherokee, which sold four times as well in December as the vehicle it replaced, the Jeep Liberty, did a year ago.
The top four automakers by sales are, in order, GM, Ford, Toyota Motor Corp and Chrysler.
GM's sales for the year rose 7 percent to 2.8 million vehicles, and Ford's U.S. annual sales of 2.5 million vehicles rose 11 percent.
For the year, Chrysler's U.S. sales rose 9 percent to 1.8 million vehicles.
Toyota's annual U.S. sales rose 7 percent to 2.2 million vehicles.
While some economists and analysts expect 2014 sales to rise to between 16 million and 16.5 million vehicles, there is growing concern that competition will intensify, leading to higher incentives and lower profit for companies.
Research firm TrueCar.com said vehicle transaction prices fell by an average of $200 per vehicle in December, or 0.6 percent, over last year while incentives were up $103 per vehicle, or 4 percent.
Chrysler is majority-owned by Italy's Fiat SpA. Earlier this week, the two companies announced that Fiat would buy the remainder of Chrysler that is currently owned by a United Auto Workers healthcare trust, for $4.35 billion. That deal is expected to close by Jan. 20.