In this study, two different dust collectors, one based on an inertial separator and the other based on an electrostatic precipitator (ESP), were developed in order to reduce brake wear particulate matter (PM) emissions. Additionally, the collection efficiencies for brake wear particles (BWPs) of the inertial separator and the ESP were evaluated according to brake pad type. In the case of the inertial separator, the BWP collection efficiencies for the low-metallic (LM) and non-asbestos organic (NAO) pads were similar, and the cut-off size at 50% collection efficiency (D50) was 2.2 µm. The ESP was designed without an additional electrostatic charging device because naturally induced electrostatic charging occurred due to the friction between the brake disc and pad. The BWP collection efficiency of the ESP was higher for NAO pad than for LM pad because the BWPs generated from the NAO pad contained a relatively low iron (Fe) component compared to that of the LM pad, thereby generating more frictional electricity. The maximum ESP collection efficiencies of the BWPs generated from the LM and NAO pads were determined to be 60% and 75%, respectively, and the remaining BWPs that were not collected were presumed to be particles that were not frictionally charged.