Abstract Hydrogen-fuelled carbon-free energy is a growing prospect for the future of several industries, among them the aeronautical and energy generation sectors. However, the transition to hydrogen comes with several challenges: flame stabilization due to the unique combustion properties of hydrogen compared to conventional fuels and control of nitrogen oxides (NOx) production due to the higher combustion temperature. In addition, the high flammability of hydrogen poses an increased risk of flashback in premixed configurations commonly used to generate low-NOx flames. As a consequence, research into strategies for low-NOx hydrogen combustion is developing, and several technologies are being considered for industrial use. Among these technologies, we consider here a dual swirl coaxial injector operated in non-premixed conditions. This setup enables the stabilization of multiple types of flame structures that are parametrically investigated for their NOx emissions. The flame structure is observed using OH* chemiluminescence images collected using an intensified CCD camera equipped with a band-pass filter. Exhaust gas species mole fractions of NO, NO2 and O2 are measured using NDIR gas detectors and a paramagnetic sensor. This investigation reveals that stabilization of hydrogen-air flames on the double swirl injector is possible and that varying the flow parameters induces changes in structure that affect NOx emissions, independently of swirl level, residence time and temperature that also play a role. The study is carried out at atmospheric pressure.