Based on the three-dimensional network structure of a polymer and the principle of photocatalysts, a visible-light-responsive and durable photocatalytic coating for the degradation of vehicle exhaust (VE) has been constructed using a waterborne acrylic acid emulsion as the coating substrate; Fe/N/Co–TiO2 nanoparticles (NPs) as photocatalytic components; and water, pigments, and fillers as additives. The visible-light-responsive Fe/N/Co–TiO2 NPs with an average size of 100 nm were prepared by sol-gel method firstly. The co-doping of three elements extended the absorption range of the modified TiO2 nanoparticles to the visible light region, and showed the highest light absorption intensity, which was confirmed by the ultraviolet-visible absorption spectra (UV-Vis). X-ray diffraction (XRD) measurements showed that element doping prevents the transition from anatase to rutile and increases the transition temperature. TiO2 was successfully doped due to the reduction of the chemical binding energy of Ti, as revealed by X-ray photoelectron spectroscopy (XPS). The degradation rates of NOX, CO, and CO2 in VE by Fe/N/Co–TiO2 NPs under visible light were 71.43%, 23.79%, and 21.09%, respectively. In contrast, under the same conditions, the degradation efficiencies of coating for VE decreased slightly. Moreover, the elementary properties of the coating, including pencil hardness, adhesive strength, water resistance, salt, and alkali resistance met the code requirement. The photocatalytic coating exhibited favorable reusability and durability, as shown by the reusability and exposure test.