The emission factor (EF) is a parameter used to assess vehicle emissions. Many studies have reported EFs for vehicles in driving conditions. However, the idling emissions should not be neglected in characterizing actual vehicle emissions in congested large cities, where idling is very common on the road. Whereas, EF data for idling vehicles have scarcely been reported in the literature, let alone comparison of different fuels. In this study, the EFs of passenger cars burning four types of fuels - gasoline, compressed natural gas (CNG), diesel, and liquefied petroleum gas (LPG) were measured and compared. The emissions data for CO, CO2, unburned hydrocarbon (HC), and NO were recorded to calculate fuel-based EFs in units of g pollutants/kg fuel burned. EFs for CO, HC, and NO were compared for the four fuels. Diesel vehicles had the highest EF for CO, with an average value of 35.12 ± 21.37 g/kg fuel, due to low concentration of CO2 in lean operation compared to CO emission. CNG vehicles had the highest EF for HC, with an average value of 28.15 ± 11.97 g/kg fuel, due to high concentration of unburned methane gas due to slow CNG flame speed whereas diesel vehicles again had the highest EF for NO due to high temperature and pressure and freezing of NO decomposition reaction, with an average value of 12.07 ± 5.37 g/kg fuel. Further comparison was conducted to analyze the effects of two additional variables on EF: engine displacement volume and model/brand year. Only the gasoline-fueled vehicles showed an increase in EFs (for CO, HC and NO) with the vehicle age according to the model year. However, no clear correlation was observed for CNG, LPG, and diesel-fueled vehicles. Finally, the EF results were compared with those reported in the literature, which have been measured in various countries under both idling and non-idling conditions. Because the idling EFs were not substantially smaller than those under moving conditions, and vehicles spend substantial time idling in large cities, idling emissions should not be ignored in the emission inventories for large cities.