Abstract In recent years, the need for low-carbon power has seen hydrogen emerge as a potential fuel to replace conventional hydrocarbons in combustion to limit CO2 emissions in several sectors, including aeronautics. The challenges posed by hydrogen combustion are similar to the issues of kerosene flames but more challenging, like nitrogen oxide (NOx) emissions and flame flashback. One potential solution to address these problems is to burn a rich mixture of hydrogen and air in globally lean conditions on a coaxial injector to obtain a stable and staged combustion and attempt to reduce emissions. In this article, the evolution of NOx production as more air is mixed into the fuel is studied, as well as the changes in flame size and structure. In particular, the appearance of a secondary flame front is observed and increasing the proportion of air in the fuel mixture both shortens the flame and reduces the NOx emission index. Additionally, the effect of the global equivalence ratio and flame thermal power is studied. Finally, existing models for NOx emission of hydrogen flames on a coaxial injector based on average flame residence time and strain rate are tested and shown to have promising results.