In this work, two palladium-based catalysts with either ZSM-5 or Zeolite Y as support material are tested for their performance in selective catalytic reduction of NOx with hydrogen (H2-SCR). The ligh-toff measurements in synthetic exhaust gas mixtures typical for hydrogen combustion engines are supplemented by detailed catalyst characterization comprising N2 physisorption, X-ray powder diffraction (XRD), hydrogen temperature programmed reduction (H2-TPR) and ammonia temperature programmed desorption (NH3-TPD). Introducing 10% or 20% TiO2 into the catalyst formulations reduced the surface area and the number of acidic sites for both catalysts, however, more severely for the Zeolite Y-supported catalysts. The higher reducibility of the Pd particles that was uncovered by H2-TPR resulted in an improved catalytic performance during the light-off measurements and substantially boosted NO conversion. Upon exposition to humid exhaust gas, the ZSM-5-supported catalysts showed a significant drop in performance, whereas the Zeolite Y-supported catalyst kept the high levels of conversion while shifting the selectivity from N2O more toward NH3 and N2. The 1%Pd/20%TiO2/HY catalyst subject to this work outperforms one of the most active and selective benchmark catalyst formulations, 1%Pd/5%V2O5/20%TiO2-Al2O3, making Zeolite Y a promising support material for H2-SCR catalyst formulations that allow efficient and selective NOx-removal from exhaust gases originating from hydrogen-fueled engines.