With the phase-in of China VI emission standard for heavy-duty vehicle (HDV), increasing numbers of HDVs are mandatorily equipped with on-board diagnostic (OBD) systems, providing opportunity to remote monitoring and supervision of emissions from in-use vehicles. However, the quality problem of OBD data is serious and lack of comprehensive assessment. In this study, the quality of nearly 1.6 billion OBD data from 38,692 China VI diesel HDVs travelling inside the Tangshan city of China was evaluated using a proposed framework which consists of validity indicators and signal transmission indicators. More than 24% of vehicles had overall invalidity rate over 20%, and only 0.4% of vehicles met the transmission period requirement of 1 Hz, indicating that the necessity and urgency for supervising and improving the OBD data quality. In particularly, several specific vehicle models were more prone to data quality problems, especially in the inability to determine the emission-related information. A real-time street-level NOx emission inventory was developed based on the OBD data with acceptable quality, using the direct monitoring and calculation of instantaneous emissions from each HDV. Compared to those from the top-down method which relied on gridded emissions and spatial allocation proxy schemes, the temporal and spatial characteristics of our results reflected the distribution and variations of actual freight demand in the real world. The developed real-world emission inventory will provide accurate support for the policy-making of precise control measures on HDVs.