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This paper was targeted on achieving in-cycle real-time prediction of NOx emission of diesel engines in both steady-state and transient processes based on cylinder pressure. Specifically, input parameters of the NOx emission model were determined, an offline empirical model of NOx emission was built based on steady-state test data, and in-cycle real-time prediction of NOx emission was achieved in the in-cylinder combustion analysis tool. Based on the mechanism of NOx formation, combustion state parameters in strong correlation with NOx emission were extracted from cylinder pressure, rate of cylinder pressure, rate of heat release, accumulated heat release and burned zone temperature. Quantitative correlations between combustion state parameters and NOx emission were calculated based on steady-state test data and the inputs of the empirical model of NOx emission were determined.