Studies on the characteristics of hazardous air pollutants (HAPs) in the emissions of medium-duty diesel trucks are significantly insufficient compared to those on heavy-duty trucks. This study investigated the characteristics of regulated pollutants and HAPs, such as volatile organic compounds (VOCs), aldehydes, and polycyclic aromatic hydrocarbons (PAHs), and estimated non-methane hydrocarbon (NMHC) speciation in the emissions of medium-duty diesel trucks. Ten medium-duty diesel trucks conforming to Euros 5 and 6 were tested for four various driving cycles (WLTC, NEDC, CVS-75, and NIER-9) using a chassis dynamometer. In an urban area such as Seoul, CO and NMHC emissions were increased because of its longer low-speed driving time. NOx emissions were the highest in the high-speed phase owing to the influence of thermal NOx. PM emissions were almost not emitted because of the DPF installation. Alkanes dominated non-methane volatile organic compound (NMVOC) emissions, 36–63% of which resulted from the low reaction of the diesel oxidation catalyst. Formaldehyde emissions were the highest for 35–53% among aldehydes irrespective of driving cycles. By sampling the particle-phase of PAHs, we detected benzo(k)fluoranthene and benzo(a)pyrene and estimated the concentrations of the gas-phase PAHs with models to obtain the total PAH concentrations. In the particle portion, benzo(k)fluoranthene and benzo(a)pyrene were over 69% and over 91%, respectively. The toxic equivalency quantities of benzo(k)fluoranthene and benzo(a)pyrene from NIER-9 (cold) for both Euro 5 and Euro 6 vehicles were more than five times higher than those of NIER (hot) and NEDC. In the case of NMHC speciation, formaldehyde emissions were the highest for 10–45% in all the driving cycles. Formaldehyde and benzene must be controlled in the emissions of medium-duty diesel trucks to reduce their health threats. The results of this study will aid in establishing a national emission inventory system for HAPs of mobile sources in Korea.