This paper presents the on-road nitrogen oxides (NOx) emissions measurements from Euro 6 light-duty diesel vehicles using a portable emissions measurement system on the predesigned test routes in the metropolitan area of Seoul, Korea. Six diesel vehicles were tested and the NOx emissions results were analyzed according to the driving routes, driving conditions, data analysis methods, and ambient temperatures. Total NOx emissions for route 1, which has higher driving severity than route 2, differed by −4-60% from those for route 2. The NOx emissions when the air conditioner (AC) was used were higher by 68% and 85%, on average, for routes 1 and 2, respectively, compared to when the AC was not used. The analytical results for NOx emissions by the moving averaging window method were higher by 2–31% compared to the power binning method. NOx emissions at lower ambient temperatures (0–5°C) were higher by 82–192% compared to those at higher ambient temperatures (15–20°C). This result shows that performance improvements of exhaust gas recirculation and the NOx after-treatment system will be needed at lower ambient temperatures.