Lead (Pb) causes learning and memory impairments, but the molecular effects of continuous, environmentally relevant levels of exposure on key neurodevelopmental processes are not fully characterized. Here we examine the effects of a range of environmentally relevant Pb concentrations (0.16μM, 1.26μM, and 10μM Pb) relative to control on neural differentiation in the SH-SY5Y cell model. Pb exposure began on differentiation day 5 and was continuous for remaining days, after which we assessed the transcriptome via RNA sequencing at several time points. The bulk of detected changes in gene expression occurred with the 10μM Pb condition. Interestingly, changes associated with the lower two exposures were differentiation stage-specific, with aberrant expression of several genes (e.g., COL3A1, HMOX1, and CCL2) observed during differentiation on days 9, 12, and 15 in both the 0.16μM and 1.26μM Pb conditions, and which disappeared by the time differentiation concluded on day 18. We observed six co-expression clusters of genes during differentiation, and 10μM Pb significantly perturbed two clusters, one involved in cell cycling and DNA repair and the other in protein synthesis. Benchmark concentration analysis identified many genes affected by levels of Pb at or below the current US standard (3.5μg/dL) and these genes were enriched for pathways including stress responses, DNA repair, misfolded protein response, mitosis, and neurotransmitter production. This work highlights potential new mechanisms by which environmentally relevant concentrations of Pb impact gene expression throughout neural differentiation and result in long-lasting implications for neural health and cognition.