Gap acceptance analysis is crucial for determining capacity and delay at uncontrolled intersections. The probability of a driver accepting an adequate gap changes over time, and in different intersection types and traffic circumstances. The majority of previous studies in this regard have assumed homogeneous traffic conditions, and applying them directly to heterogeneous traffic conditions may produce biased results. Moreover, driver behavior concerning critical gap acceptance or rejection in traffic also varies from one location to another. The current research focused on the estimation of critical gaps considering different vehicle types (cars, and two- and three-wheelers) under heterogenous traffic conditions at uncontrolled crossings in the city of Peshawar, Pakistan. A four-legged uncontrolled intersection in the study area was used to investigate drivers’ gap acceptance behavior. The gaps were investigated for various vehicle types: two-wheelers, three-wheelers, and cars. For data collection, a video recording method was used, and Avidemux video editing software was used for data investigation. The study investigated the applicability of the maximum likelihood (MLM) method to analyzing a vehicle’s critical gap. MLM estimation results indicate that the essential critical gap values for car drivers are in the range from 7.45 to 4.6 s; for two-wheelers, the critical gap was in the range from 6.78 to 4.7 s; and for three-wheelers, the values were in the range from 6.3 to 4.9 s. At an uncontrolled intersection, the proposed method’s results can assist in distinguishing between different road user groups. This study’s findings are intended to be useful to both researchers and practitioners, particularly in developing countries with similar traffic patterns and vehicle adherence patterns at unsignalized intersections.