This study compared the collection efficiency of a two-stage electrostatic precipitator (ESP) with a lightweight PET film-coated carbon electrode collector plate, depending on the relative humidity of the exhaust gas and the applied voltage to the pre-charger. It was confirmed that the onset voltage at which corona discharge occurs decreases and the discharge current decreases at the same voltage as the relative humidity increases. On the other hand, even though there was almost no change in the diameter of the particles generated depending on the relative humidity, the efficiency was higher at the same voltage as the relative humidity increased. In addition, by applying a two-stage ESP structure, the collection efficiency was higher than that of a single-stage electrostatic precipitator under the same conditions. The ESP using the carbon electrode coated with PET film used in this study is expected to be effective in various aspects such as weight and in the current situation where environmental regulations are rapidly tightening.