CO2 emissions from urban daily mobility play a major role in both environmental degradation, rising economic costs, and sustainability. Reducing these emissions not only advances environmental sustainability but also fosters economic development by enhancing public health, lowering energy consumption, and alleviating the financial strain caused by climate change. Understanding the dynamics of CO2 emissions from urban daily mobility provides valuable historical insights into environmental impacts and economic costs tied to urban development. This study takes a historical perspective, examining changes in CO2 emissions associated with daily mobility in the Lyon agglomeration across two decades, drawing on data from the 1995 and 2006 household travel surveys. Our findings reveal that individual factors such as gender, age, employment status, and income significantly influence CO2 emissions, with males and full-time workers exhibiting higher emissions. Furthermore, household characteristics, including size and vehicle ownership, are critical in shaping emission levels, while urban form variables such as population density and mixed land use demonstrate a negative correlation with emissions, highlighting the importance of urban planning in mitigating CO2 output. The analysis emphasizes that greater accessibility and proximity to essential services are vital in reducing individual emissions. Based on these insights, we discuss the implications for policy design, suggesting targeted strategies to enhance urban mobility, improve public transport accessibility, and promote sustainable urban development. Finally, we outline directions for future research to further explore the intricate relationship between urban characteristics and emissions, ultimately aiming to contribute to the development of effective climate policies.