Emissions from vehicular traffic are one of the key drivers of urban environmental air pollution, degrading the ambient air quality in many African cities and across the globe. This study sought to assess the impact of traffic mobility measures on the emission levels of air pollutants from vehicle exhaust in Lagos, Nigeria. Traffic flow and vehicle mix were collected daily during morning, afternoon, and evening peak periods along selected arterial and two-lane collector roadways. Simultaneously, five (5) air pollutants from vehicular traffic emissions were observed at distinct monitoring stations along the roadways using portable gas detectors. The traffic flow and mobility measures were inputted into a multiple exponential model to estimate the concentration of each pollutant. The result of the vehicle fleet composition revealed 3.5%, 4.5%, 57%, 32%, 1.5%, and 2% for motorcycles, tricycles, personal cars, minibuses, large buses, and heavy goods vehicles, respectively, on the two-lane road and 10%, 35%, 27%, 10%, and 18% for motorcycles, personal cars, minibuses, large buses, and heavy goods vehicles, respectively, on the arterial. The results of a multiple exponential regression model (MER) showed significant contributions from traffic flow, speed, vehicle fleet proportion, and pollutant concentration (p <0.05). However, the impact on ambient air quality revealed severe pollution levels for CO and PM2.5, while SO2, NO2, and PM10 showed moderate, poor, and poor pollution levels. This study has provided evidence on how pollutant emissions increase rapidly during peak traffic conditions in heterogeneous traffic on different classes of roads and recommended policies for managing vehicle fleets and traffic congestion with the aim of reducing the impact on the ambient air quality and health of the public on heavily trafficked roadways in sub-Saharan African cities.