Selective Catalytic Reduction (SCR) system is a high-effective NOx reduction technology in diesel engines. As the emission standard of diesel engines is more stringent, vehicle manufactures makes efforts on emission technologies. This paper discusses the performance of Urea-SCR system according to the engine operating conditions in a passenger diesel engine. Engine test results in this paper show that it is important to consider the catalyst temperature and space velocity to obtain high NOx conversion efficiency. In condition of high catalyst temperature, over 90% NOx conversion efficiency is indicated. However, when catalyst temperature is low, NOx conversion efficiency was decreased. Also, it was shown that space velocity mainly effects on the DeNOx performance under 220 degree celsius of SCR catalyst temperature. As the urea injection pressure was decreased, NOx conversion efficiency was declined. It is concerned about urea droplet atomization. This work shown in this paper can lead to improved overall NOx conversion efficiency.