Jaguar’s foray into the SUV market might not have come soon enough for die-hard fans of the big cat, but they agree that the long-awaited F-Pace has been worth the wait. With fantastic styling, a roomy cabin and surprisingly wallet-friendly running costs – in base 2.0-litre diesel form, at least – it’s not short on appeal.

However, what less brand-biased buyers want to know is how the newcomer compares with established equivalents from Land Rover and BMW when it comes to all-round usability. Current class champion, the Land Rover Discovery Sport, is the only seven-seater in our test trio, while BMW’s ageing X3 still leads the way on performance and economy. Their credentials set the bar high; can Jaguar measure up? We try all three cars in automatic-transmission, four-wheel-drive guise to find out.

The more powerful X3 2.0-litre diesel has the performance edge over its two rivals here, while the heavier Discovery is the slowest from 0-62mph, despite sharing its engine with the F-Pace. Its gearbox is occasionally tardy as well, and the Jaguar’s trans is snappier if not quite as smooth as the X3’s.

The F-Pace is the most agile of the trio, with great body control and steering feedback through bends. The comfortable-ride award goes to the Discovery, which is particularly smooth at high speeds, but the X3 is far too firm with the standard-fit sports suspension of the range-topping M Sport tested here. Even small bumps unsettle the car through corners, while the steering is precise yet rather slow and heavy when manoeuvring. The good news is that you can spec the M Sport with softer suspension for no extra charge.

With the least tyre roar and most hushed engine, the Land Rover is the most refined model here, while our F-Pace’s 20-inch alloys help make it the noisiest at speed. Wind noise created by the door mirrors meant the X3 is only fractionally quieter.

From their high-riding cabins, all three models have a good view out. Comfortable, fully electric seats, adjustable lumbar support and a multi-adjustable steering wheel give the Discovery the best all-round driving position. Its rivals both have manually adjusting seats and do without the lumbar support.

Material quality is perhaps not quite what you’d expect in any of the contenders. The F-Pace’s leather trim is eye-catchingly sporty but the speedo cover is flimsy and the steering wheel buttons feel a bit cheap. The more conservative Discovery and X3 better disguise unappealing plastics, and the latter feels the classiest and most robust.

The Land Rover is the practicality king, with its seven seats plus sliding and reclining second-row seats. Two six-footers can fit comfortably in the back of any of the cars, with the Discovery offering the best rear legroom, while that model’s extra two rearmost seats are a real bonus.

If you’re not carrying seven people, the third row folds into the floor leaving a big, square boot. The X3 and F-Pace’s load areas are less uniformly shaped but feel similar in size.

When it comes to buying, the BMW offers the best PCP potential as well as more appealing cash deals thanks to big dealer discounts. Predicted residuals are lower than its Brit rivals’, however. It was the most economical during our test, as well. We calculated that just £1750 split that and our most expensive contender, the F-Pace, over a three-year ownership period.

Company cars drivers will find there’s very little to split the models when it comes to monthly BIK payments, while the X3 is the cheapest to lease by around £15 a month over the Discovery; the F-Pace is the costliest option by the same amount.

Standard-fit goodies across the board include big alloys, climate control, heated leather seats, sat-nav and parking sensors all round. On top of that, the Land Rover adds keyless entry, heated windscreen, reversing camera and panoramic glass roof. From a safety point of view, impressively the F-Pace and Discovery can automatically apply the brakes to stop you accidentally running into the car in front, plus alert you if you wander out of your motorway lane.

When it comes to picking a winner, Land Rover’s Discovery takes the clear lead. It remains the best large SUV around for under £45,000, plus is more practical than the others here, and is the most comfortable, best equipped and has the highest safety score. If only the diesel engine had a bit more oomph...

Jaguar’s F-Pace does well to come in second. Nothing this side of the far more expensive Porsche Macan is as agile in corners or fun to drive. It’s practical, well equipped and nippy; a more pliant ride and quieter cruising manners would close the gap with the Land Rover, though.

We can’t deny that the ageing X3 still has its strengths – large discounts, great finance deals and a strong engine among them. However, its heavy depreciation and lower standard safety kit levels detract from its appeal, and the M Sport’s stiff standard sports suspension is best avoided.

1st – Land Rover Discovery Sport 2.0 TD4 180 HSE auto

5 out of 5

Engine: 2.0-litre, diesel

List price: £39,800

Target Price: £39,107

Power: 178bhp

Torque: 317lb ft

0-62mph: 10.1sec

Top speed: 117mph

Fuel economy: 35.9mpg (True MPG)

CO2: 139g/km

For: Great drive; hugely practical; glacial depreciation; plenty of standard kit; comfy driving position

Against: Average performance; slow touchscreen; low-speed ride could be better

Verdict: Still the finest large SUV under £45,000

2nd – Jaguar F-Pace 2.0d 180 R Sport auto

4 out of 5

Engine: 2.0-litre, diesel

List price: £40,360

Target Price: £40,360

Power: 178bhp

Torque: 317lb ft

0-62mph: 9.2sec

Top speed: 129mph

Fuel economy: 36.7mpg (True MPG)

CO2: 139g/km

For: Good handling; plenty of safety kit; large interior

Against: A bit noisy; hard ride; costs most here to buy and own

Verdict: Fun to drive; should be more comfy

3rd - BMW X3 xDrive20d M Sport auto

3 out of 5

Engine: 2.0-litre, diesel

List price: £39,585

Target Price: £36,423

Power: 188bhp

Torque: 295lb ft

0-62mph: 8.4sec

Top speed: 130mph

Fuel economy: 38.4mpg (True MPG)

CO2: 136g/km

For: Cheapest here to own; infotainment set-up; roomy

Against: Unpleasant ride; fast depreciation; safety gear

Verdict: Overly stiff M Sport suspension is a let-down