The Lamborghini Murciélago was produced from 2001 to 2010 as the successor to the Diablo and Lamborghini's flagship V12 model under Audi ownership. Designed by Peruvian-born Belgian Luc Donckerwolke, the Murciélago was an all-wheel drive, mid-engine sports car with scissor doors carrying over from the Countach lineage. The base model was powered by a 6,192 cc naturally aspirated V12 producing 580 PS at 7,500 rpm. Later versions included the LP 640 with 640 PS from 6.5 litres and the ultimate LP 670-4 SuperVeloce at 670 PS. Total production over the model's life reached 4,099 cars before the Aventador succeeded it in 2011.
The Lamborghini Murciélago R-GT was developed jointly by Lamborghini, Reiter Engineering, and Audi Sport and unveiled at the 2003 Frankfurt Motor Show. Unlike the standard car's all-wheel drive layout, the R-GT is rear-wheel drive only. To comply with FIA, ACO, and JAF regulations, the car retained the standard V12 engine but used air restrictors to manage power output. Acceleration and top speed were dependent on gearing ratios chosen for individual circuits. Approximately seven original R-GTs were sold.
In March 2007, an All-Inkl.com Racing Murciélago won the Zhuhai 2 Hours. A Murciélago R-GT entered the 2008 24 Hours of Le Mans but was not classified. That same year, a Murciélago R-GT entered jointly by IPB Spartak Racing and Reiter Engineering finished 8th overall and 5th in GT1 class at the 24 Hours of Spa.
In April 2009, a Murciélago R-GT of the Russian IPB Spartak Racing Team — driven by Roman Rusinov and Peter Kox — won the GT1 class at the 1000 km de Catalunya, a Le Mans Series round, beating a Corvette C6.R and a Saleen S7R despite starting from the back of the grid after technical irregularities during qualifying.
The Lamborghini Murciélago RG-1 was built for the Japan Lamborghini Owners Club (JLOC) to compete in the Japanese Super GT series from 2004. In March 2006, the RG-1 recorded a win in the GT300 class at the Super GT Suzuka 500 km race. An endurance variant, the Murciélago RG-1LM, was developed for JLOC by Reiter Engineering for the 24 Hours of Le Mans in 2006, though the car was not classified after failing to complete the final lap.
The Lamborghini Murciélago LP 670 R-SV was an evolution of the R-GT, developed by Reiter Engineering to comply with the FIA regulations for the new FIA GT1 World Championship. It was unveiled at the 2010 24 Hours of Spa weekend.
In the 2010 FIA GT1 World Championship season, Reiter Engineering ran two R-SVs while All-Inkl.com Münnich Motorsport operated two further cars. Reiter achieved some success, winning two championship races and finishing third in the teams' championship, though All-Inkl did not match that level, finishing ninth. The 2011 season saw Swiss Racing Team run ex-Reiter R-SVs following an unsuccessful 2010 campaign in Nissan GT-Rs. All-Inkl enjoyed greater success in 2011, topping the teams' championship standings at round seven, while DKR Engineering announced late in the season that they would switch to Murciélago R-SVs for the final two rounds after using a Chevrolet Corvette C6.R for the first eight rounds.
Reiter Engineering, which had previously developed the Diablo GTR Super Trophy race cars before the Murciélago GT1 programme, translated much of their Murciélago knowledge into the Gallardo GT3 program that ran concurrently from 2007. The Murciélago GT1 cars never achieved consistent championship success at the highest level, but the R-SV provided a competitive platform in the early years of the FIA GT1 World Championship before Lamborghini's factory racing attention shifted to the Gallardo-based Blancpain Super Trofeo one-make series and, ultimately, to the Huracán GT3 era.