Traffic congestion is a community-related issue in urban areas associated with the ease and comfort of road travel. This problem persists in Malaysia, owing to the fast expansion of urban areas caused by increased vehicle volume due to rapid human population growth. Amid traffic congestion, an emergency vehicle must travel smoothly to cater for emergency action to save human life. Existing traffic signal systems are unsuccessful at solving emergency vehicles stranded during traffic congestion since they are time-based, resulting in the worst travel times and energy loss. Therefore, this study is inspired to provide a novel IoT system utilising Raspberry Pi and Arduino that enables the emergency vehicle to act as the input to the traffic light to guide it through congested intersection roads that require immediate passing. The “Traffic Control Module,” the system’s central control unit, controls the traffic signal colour-switching action to realise this study’s intelligent traffic control system objective. It promotes scalability in the design. However, the system faces some limitations potentially related to the system algorithm and hardware limitations regarding its performance on vehicle detection accuracy. The paper also discusses potential future improvements, which can enhance the system to serve the community better.