Abstract—Vehicular ad hoc networking is an emerging paradigm which is expected to increase the public safety standards and enhance the safety level of drivers/passengers and pedestrians on road through a variety of applications. We have recently proposed VeMAC, a medium access control protocol which supports a reliable one-hop broadcast service necessary for high priority safety applications in VANETs , , . This paper explains how the VeMAC protocol can deliver both periodic and event-driven safety messages in vehicular networks, and presents a detailed delivery delay analysis, including queueing and service delays, for both types of safety messages. The probability mass function of the service delay is first derived, then the D/G/1 and M/G/1 queueing systems are used to calculate the average queueing delay of the periodic and event-driven safety messages respectively. As well, a comparison between the VeMAC protocol and the IEEE 802.11p standard  is presented via extensive simulations using the network simulator ns-2  and the microscopic vehicle traffic simulator VISSIM . A real city scenario is considered and different performance metrics are evaluated, including the network goodput, protocol overhead, channel utilization, protocol fairness, probability of a transmission collision, and message delivery delay. Index Terms—TDMA, medium access control, delay analysis, safety messages, and vehicular ad hoc networks.