SOUTHFIELD, Mich. — General Motors and Ford reported U.S. sales in July that trailed analysts’ estimates as consumers concerned about the economy limited large purchases. Toyota and Nissan topped expectations.

GM’s sales rose 1.5 percent. The largest U.S. automaker was expected to report a 10 percent increase, the average estimate of five analysts surveyed by Bloomberg. Ford’s sales fell 0.7 percent; analysts estimated a 10 percent gain. Its total sales climbed 3.1 percent.

Industrywide sales were expected to reach the highest level of 2010 with an expected annualized selling rate in July of 11.9 million vehicles, the average estimate of eight analysts. That would be 5.3 percent higher than last year’s 11.3 million pace and the best month since last August, when the government’s “Cash for Clunkers” incentive program inflated sales.

GM’s deliveries climbed to 199,692 from 189,443 a year earlier, the Detroit-based company said. Sales of Chevrolet vehicles gained 12 percent from a year earlier to 139,916, and GMC deliveries increased 27 percent to 27,798, the company said. Cadillac and Buick more than doubled.

Ford’s deliveries rose to 170,411 from 165,279 a year earlier, the Dearborn, Mich.-based company said. Sales of Ford-brand vehicles rose 8.1 percent, while Lincoln deliveries dropped 16 percent and Mercury declined 31 percent.

Toyota, the world’s largest automaker, and Nissan were the only major automakers to exceed analysts’ estimates in the month. Toyota said U.S. sales dropped 3.2 percent to 169,224 vehicles. Deliveries fell 6.8 percent, less than four analysts’ average estimate for a 7.4 percent decline.

Nissan’s sales gained 15 percent to 82,337 vehicles. Deliveries climbed 10 percent, beating analysts’ average estimate for a 6.8 percent increase.

Honda’s U.S. deliveries fell 5.6 percent, trailing four analysts’ average estimate for a 0.8 percent gain. Sales dropped 2 percent to 112,437 vehicles.

Chrysler Group’s sales gained 1.1 percent, trailing analysts’ estimates for a 2.2 percent increase. U.S. sales at the Auburn Hills, Mich.-based automaker rose 5 percent to 93,313 vehicles, led by a 19 percent gain for the Jeep brand. Dodge sales were little changed, while the Ram line gained 11 percent and Chrysler dropped 11 percent, the company said.

Hyundai, South Korea’s largest automaker, sold 54,106 vehicles in the United States in July, up 19 percent from a year ago. Kia Motors Corp., Hyundai’s affiliate, said sales rose 21 percent.