The preliminary accord, which still needs to be formalised before it becomes EU law, calls for climate heating carbon dioxide (C02) gases from those heavy vehicles to be cut by 45 percent between 2030 and 2034.
Those pollutant emissions are to be reduced by 65 percent by 2039, and by 90 percent from 2040.
Under the text, buses in towns and cities must cut their emissions by 90 percent by 2030 and be entirely emission-free by 2035.
The agreement is another step towards the 27-nation EU becoming carbon neutral by 2050 -- in part by cutting reliance on fossil fuels and, for road transport, turning increasingly to electric-powered engines.
A leading MEP on the issue, Bas Eickhout, said the deal would help the EU reach its climate targets and was "also a crucial driver for cleaner air in our cities".
The negotiated text built on a proposal put forward by the European Commission -- the EU's executive arm -- and expanded its focus on heavy goods vehicles to also include smaller trucks, urban buses, coaches and trailers.
The new rules would provide exemptions for certain vehicles, including those used for mining, forestry and farming, and in the armed force and firefighting services.
Heavy-duty vehicles on EU roads are estimated to cause a quarter of road transport greenhouse gas emissions.
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