HR-V uses a MacPherson strut front suspension with coil springs and five-link De Dion-type rear suspension with coil springs and a Panhard rod. The rod, which bears lateral loading, has a highly rigid pipe structure designed to improve responsiveness to steering inputs. The front end, meanwhile, has an offset layout of springs to reduce damper friction. The front suspension's rear beam is straight and rigid, providing greater resistance to lateral inputs.

Ball joints are used on the anti-roll bars to reduce friction and provide greater roll stiffness. The wheel hub bearings are highly rigid, enabling greater responsiveness to steering inputs. The separate location of the rear springs and shock absorbers helps minimise intrusion into the luggage compartment. The rear differential is supported by the body, so unsprung weight is minimised.