2009–2012

In 2009, Stenhouse began competing in a partial schedule in the Nationwide Series at events that conflicted with the Sprint Cup schedule. He had his first Top 10 finish at Kentucky Speedway when he finished ninth. At the following race in Milwaukee, he led 46 laps in the later stages of the race and finished fifth.^[7]

The 2010 season started horribly for Stenhouse, but he showed signs of life as the year went on. After crashing out of four out of the first ten races of the season (and crashing in practice also), Stenhouse was replaced by Brian Ickler for three races and Billy Johnson drove at Watkins Glen. After taking on veteran Mike Kelley as crew chief, Stenhouse immediately responded with a third-place finish at Daytona. He proceeded to take seven top tens and was locked in a tight battle for Rookie of the Year (ROTY) with Brian Scott. With Scott struggling after his release from Turner Motorsports, Stenhouse took the ROTY award after a fourth-place finish at Homestead.

On May 22, 2011, Stenhouse held off charges from Carl Edwards and Brad Keselowski for the final 18 laps to claim his first win in the John Deere Dealers 250 at Iowa Speedway, his 51st start in the Nationwide Series.^[8]

Stenhouse made his Sprint Cup Series debut at the 2011 Coca-Cola 600 substituting for fellow Roush teammate Trevor Bayne. Stenhouse finished 11th in the Wood Brothers Racing entry.^[9]

Stenhouse had dominated the Kroger 200 Nationwide Series race at Lucas Oil Raceway before being passed by Brad Keselowski late in the race. Stenhouse took his second Nationwide win at Iowa in August, again holding off teammate Carl Edwards, but more bizarrely as Stenhouse's engine blew coming off of turn 4. Edwards subsequently rear-ended his teammate, pushing him across the line to the win.

At the end of the 2011 season, having scored 16 Top 5 finishes, Stenhouse won the Nationwide Series championship by 45 points over Elliott Sadler.^[10]

Stenhouse drove the No. 6 Sprint Cup Series car for Roush Fenway Racing in the 2012 Daytona 500,^[11][12] finishing 20th.^[13]

In the Nationwide Series the previous day, Stenhouse had been caught up in a 10-car wreck on the final lap of the series' season-opening event; a week later he finished 3rd at Phoenix, while a week after that Stenhouse won his first race of 2012 at Las Vegas, winning the Sam's Town 300, holding off Mark Martin to take the checkered flag;^[14] he would win races at Texas Motor Speedway and Iowa Speedway before suffering a run of bad luck starting at Charlotte Motor Speedway. Stenhouse would score 3 more victories at Atlanta, Charlotte, and Kansas. He once again held off Sadler to take his second consecutive Nationwide Series championship.

2013–2019: Roush Fenway Racing

On June 26, 2012, Roush Fenway Racing announced that Stenhouse would drive the No. 17 car in the Sprint Cup Series full-time for 2013, replacing Matt Kenseth.^[15] Trevor Bayne replaced Stenhouse in the Nationwide No. 6 car for 2013.^[16]

To prepare for the 2013 season, Stenhouse ran in the AAA 400 at Dover International Speedway where he finished 12th, the Bank of America 500 at Charlotte Motor Speedway where he finished 35th because of engine problems, but he was running near the front of the field. He also ran in the season finale Ford 400 at Homestead-Miami Speedway in which bad luck struck again as he cut a tire and smacked the wall, similar to what happened to Marcos Ambrose two races before, in Texas. In all of these races he ran in the No. 6 car of Roush Fenway Racing sponsored by Cargill, Best Buy, and Fifth Third Bank respectively.

In 2013, Stenhouse competed full-time in the No. 17 Ford Fusion in the Sprint Cup Series. He was paired with rookie crew chief Scott Graves, who was formerly an engineer for Roush Fenway Racing. Stenhouse placed 12th in his second Daytona 500 (his first with the No. 17 team) despite suffering crash damage on lap 134. Stenhouse led his first lap of Sprint Cup competition at Las Vegas Motor Speedway. Later in the season, Stenhouse had his breakout race at Kansas, where he qualified third and led 26 laps, before finishing 11th.^{[citation needed]} In qualifying at Atlanta Motor Speedway, Stenhouse won the pole position with a 29.227 lap time.^[17] Stenhouse recorded his first Top 10 finish with a 10th-place finish at Richmond, followed by an eighth-place finish at Chicagoland. His best finish of the season was a third-place finish at Talladega behind Jamie McMurray and Dale Earnhardt Jr. Stenhouse was eventually named Cup Series Rookie of the Year.^[18]

In 2014, both Stenhouse and Roush-Fenway suffered through a dismal season. Stenhouse's best finish was a second-place showing at Bristol in the spring, a race won by teammate Carl Edwards, one of the few impressive showings by Roush in 2014. Stenhouse failed to qualify at Talladega in October and finished 27th in points.

After a slow start in 2015, Stenhouse nearly won the Food City 500 where he came home in fourth. After a weak summer, he had a consistent run of 15th or better in six of the last 10 races, including two top 10s at Dover and Talladega. After poor performances at Martinsville and Phoenix where he was as high as 22nd in the points standings, he fell to 25th at the season's ending.

Stenhouse got off to a better start in 2016 than 2015 including a Top 10 run in Atlanta. He got his next Top 10 at Fontana, in 2015 It took 29 races to get two Top 10s in the year, it took five in 2016. On March 1, his team announced that Sunny D would be his sponsor in select Cup and Xfinity Series races. On August 21, 2016, Stenhouse recorded a then-career-best second-place finish in the Bass Pro Shops NRA Night Race at Bristol Motor Speedway.^[19]

After a gamble to stay out, Stenhouse restarted 2nd with two to go at Phoenix on the Green White Checkered. He stacked up the line and caused Ryan Newman to cruise away to the finish. After a flat tire early on at Richmond he rebounded to finish fourth. At Talladega's 2017 GEICO 500, Stenhouse won his second career Cup Series pole and his first since the 2013 Cup Series season. It was also RFR's first pole of the 2017 season.^[20] Stenhouse led the opening laps and then stayed mid-pack for the rest of the race. After Stenhouse avoided an 18-car pileup he found himself in second place chasing Kyle Busch. After the final restart, Stenhouse passed Busch on the final lap for the win. It was his first Cup Series win, while RFR snapped its 101-race winless drought, dating back to Carl Edwards' victory in the 2014 Toyota/Save Mart 350 at Sonoma Raceway.^[21] Stenhouse later picked up his second victory of the year at Daytona in July, passing David Ragan with two to go, further solidifying his spot in the 2017 Playoffs.^[22] In the Playoffs, at Chicago he had a rough showing with a not so strong car and commitment line penalty which he ended up in 25th. In the next race at New Hampshire, he hit the wall on Lap 3 but recovered to finish 15th on the lead lap to tie Austin Dillon on points for the last spot. At Dover in the elimination race, he struggled early starting in 14th, falling back to 23rd and off the lead lap but took a risk of staying on the lead lap and got a caution while in third place and finished fourth in Stage 1 getting seven Stage Points. He would not earn any Stage Points in Stage 2 but finished 19th while Ryan Newman finished 13th which proved enough for Stenhouse Jr. as he finished above Newman by two points for the last playoff spot in the Round of 12 and advanced to the second round of the playoffs. Stenhouse was eliminated in the second round after failing to perform well enough in the races.

2018 started with decent results for Stenhouse, as he had consistent runs throughout the season. However at Daytona, Stenhouse was mainly to blame for two accidents, and he was caught up in three crashes, ultimately finishing 17th, after winning the first two stages, and receiving a security escort after the race.^[23] He dropped to 18th in the final point standings as he failed to visit victory lane, missed the playoffs, and recorded only five Top 10 finishes.

On August 1, 2019, Stenhouse announced he signed a contract extension with Roush Fenway Racing through 2021.^[24] However, on September 25, Roush Fenway Racing announced that Stenhouse will be replaced by Chris Buescher in 2020, with Roush using an option in their contract with Buescher.^[25][26] In the aftermath of the sudden dismissal from the team, which was criticized by some members of the racing community (Including Kevin Harvick), Roush president Steve Newmark, said that, after ten years with the team, the relationship with Stenhouse had "run its course."^[27]

2020–present: JTG Daugherty Racing

On October 16, 2019, JTG Daugherty Racing announced Stenhouse would drive for them in 2020.^[28] On December 2, 2019, JTG Daugherty Racing announced that Stenhouse would be driving the 47 car, moving Ryan Preece to the 37.^[29]

On February 9, 2020, Stenhouse got off to a fast start by winning the pole for the Daytona 500.^[30]

Stenhouse Jr. narrowly lost the 2020 GEICO 500 to Ryan Blaney, spinning Aric Almirola about a hundred yards from the finish line, and nearly winning but coming up .007 short.^[31] Stenhouse scored three top fives and four top tens throughout the season, and all top fives came in the first half of the regular season.^[32]

Stenhouse started the 2023 season by winning the 2023 Daytona 500, his third career victory. This win put him in the playoffs for the first time since 2017.^[33] Stenhouse was eliminated after the Round of 16.^[34]

Cup Series

Xfinity Series

^* Season still in progress
¹ Ineligible for series points

K&N Pro Series West