Particulate mass concentration is a crucial parameter for characterising air quality. The diesel particulate filter (DPF) is the primary technology used to limit vehicle particle emissions, but it needs periodic cleaning, a process called regeneration. This study aims to assess the impact of active DPF regeneration on the performance and emissions of Euro 5 and 6 vehicles. The study examined both carbon dioxide (CO2) and pollutant (nitrogen oxides (NOx) and particle number (PN)) emissions for eight vehicles tested in the laboratory and on the road. Apart from the DPF, a wide range of emission control systems was covered in this experimental campaign, including exhaust gas recirculation (EGR), diesel oxidation catalyst (DOC), lean NOx trap (LNT) and selective catalytic reduction (SCR) catalyst, revealing the different impacts on NOx emissions. The regeneration frequency and duration were also determined and used to calculate the Ki factor, which accounts for the emissions with and without regeneration, weighted over the distance driven between two consecutive regeneration events. Based on these outcomes, representative emission factors (EF) were proposed for the regeneration phase only and the complete regeneration interval. In addition, the effect of regeneration on efficiency was estimated and compared with other energy consumers. The results indicated a significant impact of DPF regeneration on CO2, NOx and PN emissions, higher in the case of driving cycle testing in the laboratory. The relevant mechanisms behind the elevated emission levels were analysed, focusing on the regeneration period and the test phase following immediately after. The calculation of the Ki factor and the comparison with the official values revealed some weaknesses in its application in real-world conditions; to overcome these, new NOx EF values were calculated, depending on the emission control system. It was revealed that Euro 6 vehicles equipped with SCR could comply with the applicable limits when considering the complete regeneration interval. Finally, it was indicated that the DPF regeneration impact on vehicle efficiency is similar to that of driving with the air conditioning (A/C) system and headlights on.