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Concern over the impact of vehicles on air quality remains high and emissions of particulate matter are coming under increasing scrutiny as a form of pollution with wide-ranging negative impacts ranging from asthma to climate forcing. Studies in urban environments have consistently shown that a large proportion of particulate can be attributed to emissions from vehicles, although not all these emissions originate from the powertrain. While the study of particulate matter has traditionally focused on mass-based quantification of emissions from compression ignition engines, there is now a growing awareness that other engine types (direct injection, port fuel injection) and other metrics and quantification methods (particle number, particle size distribution, particle surface area) are all important areas of investigation. Particulate matter emissions still present multiple open questions and large domains of investigation and many questions remain open. There are also considerable practical difficulties involved in investigating solid nanoparticle emissions from engines, although there is now a wide array of instrumentation available. This paper traces the story of particulate matter emissions from combustion engines and follows the introduction and evolution of legislation, emissions limits and test methods. The main devices and methods used for quantification of these emissions are examined. Some points relating to real world emissions are mentioned. The rapidly-changing current situation is commented upon and thoughts regarding the future are presented, together with conclusions and lessons learned.