Urban growth is associated with a number of environmental issues. One of the most serious environmental concerns is the air pollutants and increasing greenhouse gas (GHG) emissions. This study presents a comprehensive review of the impact of urban form on the GHG emissions from household vehicles. A comparative study encompassing the methods used for identifying the relationship between urban form and vehicle GHG emissions was conducted. Household vehicle GHG emissions in different urban forms were investigated, drawing upon various existing studies. The internal variables that define urban form, such as density, connectivity, land use mix, and accessibility, were further discussed with respect to their degree of influence on household vehicle GHG emissions. Finally, a discussion of opportunities in urban form which may be conducive to household vehicle GHG emission mitigation in the long term was presented.