The subject of this article is the analysis of the current state of legislation regarding the exhaust emissions from two-wheeled vehicles. Regulations and emission limits have been analyzed and compared for different areas of the world. What’s more, the review of the legal provisions includes an individual approach to specific categories of two-wheeled vehicles. The study also describes research and exhaust emission measurement methods from mopeds and motorcycles both in laboratory conditions and in actual operation. The methods were evaluated in the aspect of future emission requirements and trends. In addition, emissivity measurements results in real operating conditions obtained in the Poznań agglomeration with the use of motorcycle units were discussed and analyzed. The values of road emissions of all toxic compounds limited by legislators have been compared with emission standards.