In a laboratory experiment, the relationship between the annoyance caused by sounds of tracked and wheeled vehicles was investigated. Sounds of various vehicles, ranging from a main battle tank (MBT) to a passenger car, were recorded at several distances. Subjects were presented with these sounds and were asked to judge the annoyance if they were exposed to them at home on a regular basis. Overall, sounds emanated from military tracked vehicles were judged to be less annoying than civil passenger cars, provided that the indoor A-weighted sound-exposure levels (ASELs) were the same. It should be noted that receiver distance and operating conditions were not specifically matched for military and civil vehicles but were chosen to represent typical ranges of values found in practice. For steady-speed conditions, the sounds were judged to be equally annoying if the (indoor) ASELs of the tracked armored personnel carrier (APC) and the MBT exceeded that of a passenger car by 5 and 10 dB, respectively. In specific driving conditions such as alternate accelerations and decelerations, however, these differences were smaller. For ASELs below 55 dB, passenger cars were found to be more annoying than heavier wheeled vehicles, such as a bus or a truck with a trailer. The data indicate that the difference between the high-frequency part and the low-frequency part of the spectrum might play a role in the annoyance. With respect to noise-zoning procedures it is highly interesting that the outdoor ASEL could predict the annoyance, as rated indoors, better than could any indoor noise measure. The 5- and 10-dB bonuses to the indoor level of the APC and the MBT, respectively, were reduced to 1 and 3 dB if the dose was measured outdoors.