The paper reports a wide vibro-acoustic experimental investigation of the gear rattle phenomenon induced by multi-harmonic excitation. The analysis is performed by using different measurement techniques which allow some of the significant parameters in this type of investigation to be acquired on a specific test rig: the angular rotations of the gears by using encoders; the accelerations obtained from a triaxial accelerometer; the sound pressure level determined by employing both acoustic microphones; the correct evaluation of the acoustic sources by utilizing a p–v sound intensity probe. Performance indices were adopted to compare the dynamic behaviours of the system with respect to some parameters, such as the speed of the pinion, the fluctuations in the speed of the pinion and the lubrication conditions. The results of the comparative analysis show very good agreement between the vibro-acoustic measurements and the results from the encoder-based method; this has helped us to interpret the physical behaviour of the gear pair with respect to the impacts occurring between the teeth during the different phases of the phenomenon. Moreover, the study indicates interesting aspects of the effects of multi-harmonic excitation on the rattle phenomenon, with particular attention to the influence of lubrication on the reduction in the rattle noise.