BERLIN—Volkswagen AG is recalling more than a million cars total in the U.S., China, and Germany to inspect their rear suspension systems, joining the ranks of other global manufacturers that recently have faced massive safety recalls.

Volkswagen became aware of the issue as a result of an investigation in China, the company said on Friday. In China, VW and its partner, FAW Group Corp., are recalling 563,605 locally made Sagitar…