On-road exhaust emissions from light-duty vehicles are greatly influenced by driving conditions. In this study, two light-duty passenger cars (LDPCs) and three light-duty diesel trucks (LDDTs) were tested to investigate the on-road emission factors (EFs) with a portable emission measurement system. Emission characteristics of carbon monoxide (CO), hydrocarbons (HC) and nitrogen oxides (NOx) emitted from vehicles at different speeds, accelerations and vehicle specific power (VSP) were analyzed. The results demonstrated that road conditions have significant impacts on regulated gaseous emissions. CO, NOx, and HC emissions from light-duty vehicles on urban roads increased by 1.1–1.5, 1.2–1.4, and 1.9–2.6 times compared with those on suburban and highway roads, respectively. There was a rough positive relationship between transient CO, NOx, and HC emission rates and vehicle speeds, while the EFs decreased significantly with the speed decrease when speed ≤ 20 km/h. The emissions rates of NOx and HC tended to increase and then decrease as the acceleration increased and the peak occurred at 0 m/s2 without considering idling conditions. For HC and CO, the emission rates were low and changed gently with VSP when VSP < 0, while emission rates increased gradually with the VSP increase when VSP > 0. For NOx NOx emission rates were lower and had no obvious change when VSP < 0. However, NOx emissions were positively correlated with VSP, when VSP > 0.