Recently much attention has been drawn to the noise emission of two-wheelers and motorcycles. Considering the high levels of noise pollution and annoyance caused by motorcycles, it is necessary to evaluate the contribution of their noise emission to the overall traffic noise. Furthermore, this emission must be included in traffic noise studies and noise maps. In order to have a clear understanding of the noise characteristics of this vehicle category, extensive studies are required. This paper aims to investigate the effects of speed and road condition on annoyance caused by motorcycle noise emission. For this purpose, noise measurements are carried out for various engine speeds, and road conditions. These stimuli are used later in a perceptual experiment to realize the effect of each parameter on the caused annoyance. Stimuli are reproduced in the laboratory where participants can determine their annoyance toward each stimulus. Finally, based on the outcome of the perceptual experiment and analysis of psychoacoustic parameters, a conclusion is drawn to clarify how annoyance and noise emission alter in response to the changes in speed and road condition.