An aftertreatment system of diesel exhaust gas was attempted to extract particulate matters. The system consisted of a corona-less electrostatic precipitator to agglomerate soot particles and a counter-flow cyclone to collect them. When the effect of high voltage was examined at different configuration of electrode plates, the case of positive 15kV at both plates showed the maximum reduction of 38% in diesel smoke level. However, the back pressure became quite high as engine speed increased, so that minimizing pressure drop in cyclone should be studied with improving collection efficiency of soot particles.