Total outstanding auto debt in the U.S. surpassed $1 trillion for the first time in the second quarter, powering the sector into the upper tiers of household debt.

With the recession now six years behind, in the nation's rearview mirror, lending for automobiles has sharply accelerated: Around $119 billion in auto loans were originated in the second quarter of this year, a 10-year high, according to figures from the Federal Reserve Bank of New York released Thursday.

Auto lending has climbed steadily during the past four years, helping sales of U.S. autos and light trucks completely recover their losses from the recession. In May, consumers purchased vehicles at an annual pace of 17.6 million, the highest since June 2005.

Americans have now racked up more than $1 trillion in both auto-loan debt and student-loan debt, which surpassed $1 trillion for the first time in 2013. The overall indebtedness of U.S. borrowers remains lower than before the recession, owing to declines in housing and credit card balances. Outstanding balances for mortgages and home-equity lines of credit dropped by $66 billion in the second quarter.

Auto lending and credit-card lending used to trade spaces as the second- and third-largest categories of U.S. household debt, after mortgages. Both were surpassed by student loans in 2010. Since 2011, auto loans have rapidly outgrown credit cards. Today, household credit-card balances stand at $703 billion, about the same as four years ago.

Auto lending and mortgages offered a study in contrast over the past five years. Both types of debt fell in the recession—from 2008 to 2010 the total stock of auto loans declined by more than $100 billion. Mortgage balances dropped by more than $800 billion.

"There was some tightening in auto loan standards after the financial crisis, but by many measures it's returned basically to where it was prerecession," said Wilbert van der Klauw, a New York Fed economist. "That's quite a contrast to mortgage underwriting, which remains significantly tighter than before the recession."

In the aftermath of the financial crisis, borrowers with low credit scores saw mortgage availability dry up. In 2006, nearly $650 billion in loans were originated to people with credit scores below 660. Since 2010, such originations have been below $150 billion, according to new data released by the New York Fed showing the credit scores of those who obtain mortgages.

Borrowers with low credit, also known as subprime borrowers, initially were taking out far fewer auto loans, too. But beginning in 2010, auto lending began to rise for people of all credit scores, returning to a similar mix of high- and low-credit score borrowers as before the recession. Auto loans climbed to new highs while mortgage lending.

Auto and housing loans have one thing in common: delinquency rates near the lowest levels in years. The survey found that 95,000 people in the U.S. had a foreclosure notation added to their credit reports—the fewest in the 16 years of available records. Borrowers more than 90-days behind on their mortgage fell to just 2.5% in the second quarter, the lowest since 2007. The share of similarly delinquent auto borrowers has been a bit over 3% since 2013. That figure was little changed at 3.4% in the second quarter.

The benefits of the auto lending boom have been clear at Ford Motor Co. and General Motors Co. Last month, Ford reported $1.9 billion in net profit during the quarter, a 44% increase from the same quarter a year ago, with strength in the U.S. offsetting weakness in China and Europe. GM earned $1.2 billion, up from just $278 million a year ago.

The overall stock of debt was little changed over the past three months, as the decline in housing offset increases in auto loans and credit cards. Credit-card balances rose by $19 billion.

Student loans were also little changed, as the academic calendar doesn't necessitate many loans in the spring. The figures aren't seasonally adjusted. The New York Fed's survey of household debt and credit is obtained from a sample of anonymized data from the credit-reporting firm Equifax.

Write to Josh Zumbrun at Josh.Zumbrun@wsj.com

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