Audi was restructuring their model lineup in early and mid-1990s, and in late 1994, began selling the fifth generation (C4) Audi 100 model, re-badged as the Audi A6. Wanting to keep a sports-saloon in their lineup, the company made small revisions to what was previously known as the Audi S4, renaming it the Audi S6; the S4 name would eventually be re-used for a completely different model derived from Audi's smaller Volkswagen Group B platform-based Audi A4. As this was the first S6 model from Audi, it is commonly referred to as the Ur-S6, derived from the German augmentive, "Ursprünglich" (meaning: original).

It was available as both a saloon/sedan (typ 4A5), and an "Avant" (typ 4A9) (estate/wagon) to European and United States customers, but only as a saloon in Canada, Asia and Australia. Audi's trademark "procon-ten" safety system was standard fitment.