An experimental study of the particulate matter (PM)-related emissions from the combustion of waste cooking oil (WCO)-based biodiesel-blended (0%, 30%, and 100% v/v) fuels in a four-cylinder diesel particulate filter (DPF)-equipped engine was carried out. A laboratory-scale DPF under the controlled conditions was installed into an aftertreatment system, and the PM mass and number characteristics were investigated. The combustion analysis based on in-cylinder pressure shows that the added WCO shortened the ignition delay, advanced the combustion ignition, and increased peak pressure values compared to conventional diesel fuel. The WCO increase in specific fuel consumption led to a slight reduction in brake thermal efficiency. The WCO-fueled engine showed reduced PM and total unburned hydrocarbon but increased nitric oxide emission. The nucleation and accumulation were characterized for nanoparticle number and size distribution. The particle number (PN) concentration in total was declined to smaller values when fueling with WCO. In the thermogravimetric analysis, the PM of WCO oxidized to a greater level than that of diesel fuel, which was observed by the weight loss rates during the specified heating program. WCO lowered the elemental carbon (EC) part of PM than diesel fuel. When equipping an exhaust system with DPF, the EC and the total PN drastically reduced while the particle size slightly increased. The use of DPF with the WCO biodiesel mitigated both EC and organic carbon components of the captured particles of the released PM.