Indoor air pollution from solid fuel combustion is a major health risk in developing nations. In Tanzania, over 80% of households rely on biomass and fossil fuels for cooking. While transitions to cleaner fuels are occurring, kerosene remains widely used in urban areas like Dar es Salaam. This study employed cross-sectional techniques among 59 households randomly selected from Mbagala, Dar es Salaam, to characterize indoor air quality and self-reported respiratory symptoms from kerosene and liquefied petroleum gas (LPG) cooking. Indoor concentrations of carbon monoxide (CO), nitrogen dioxide (NO2), sulfur dioxide (SO2), and particulate matter (PM10) were measured using portable analyzers during morning and evening cooking sessions. Questionnaires gathered data on household demographics, cooking practices, housing characteristics, and self-reported health symptoms. Compared to LPG stoves (n = 28), kerosene stoves (n = 31) emitted significantly higher indoor levels of CO (mean 56 ± 8 vs. 18 ± 1.2 ppm), NO2 (3.6 ± 0.6 vs. 1.4 ± 0.22 ppm), and SO2 (2.8 ± 0.4 vs. < 0.1 ppm) exceeding WHO guidelines. Poor ventilation was common. Time spent cooking and household size correlated positively with pollutant concentrations (p < 0.05). Common health issues reported included cough (65%), asthma (30%), and chest pain (25%). Kerosene use was associated with higher indoor air pollutant concentrations and a higher prevalence of self-reported respiratory symptoms than LPG. Interventions are needed to accelerate transitions to cleaner fuels and improve household ventilation. Strategic investments could help reduce exposure and disease burden from indoor air pollution in the study area and other places with similar challenges.