The aim of this work was to evaluate the exhaust emissions from a diesel vehicle fueled with diesel/biodiesel blends running in a specific driving cycle. Methyl ester obtained from used frying oil was used as the blending feedstock into the reference diesel fuel to create blends at proportions of 5, 10, 15, and 20% by volume. The on-board emission measurements showed that the addition of biodiesel into the reference diesel fuel demonstrated an increase in NOx emissions. Emissions of CO and hydrocarbons were decreased with the addition of biodiesel; however, this reduction was not significant. Particulate matter emissions followed a decline trend as the addition of methyl ester increased into the baseline diesel fuel. Fuel consumption invariably increased for the biodiesel blends, when the motor vehicle operated under the specific real-world driving cycle.