A side impact airbag system is disclosed that is stored behind cover panels provided on the A-hinge pillar, rocker, and C-body lock pillar. The airbag is stored in a receptacle until it is inflated by an inflator. The inflator inflates the airbag that is connected between fore-and-aft spaced anchoring points. When the airbag is in a deployed position, it is located between a seat and door of the vehicle. The deployment height of the airbag is controlled by tethering side shield panels that are secured between the airbag and the vehicle. The tethering side shield panels are not inflated by the inflator but are pulled to a taut condition as a result of the deployment of the airbag.