Pre-chamber jet ignition is a promising combustion technology to achieve fast combustion in natural gas engines. First, the ignition and combustion characteristics of mixtures in a pre-chamber system with different diameter orifices were studied under engine-relevant pressures and temperatures in a rapid compression machine. The tested fuels, CH4/air stoichiometric mixtures, were diluted by different proportions of CO2/N2 to simulate the corresponding exhaust gas recirculation conditions in engines. High-speed photography was applied to visualize the jet ignition and combustion processes. The experimental results revealed that two ignition patterns existed in the pre-chambers depending on the diameter of orifices. Pre-chamber jet flame ignition pattern appeared when the orifice diameter of the pre-chamber exceeded a critical value, which produced jet flame and ignited the mixtures in the main chamber directly. Pre-chamber jet auto-ignition pattern produced jet which promoted the auto-ignition of mixture in the main chamber when the orifice diameter was smaller and presented much shorter combustion durations. Based on the experimental results in the rapid compression machine, a practical pre-chamber system was designed in a single-cylinder natural gas engine to investigate the combustion performance and emission characteristics. The experimental results indicated appropriate 0.8%–1.4% increases of indicated thermal efficiency were achieved by pre-chamber jet ignition due to the higher combustion efficiency and shorter combustion duration compared to conventional spark ignition. Lower total hydrocarbon and CO emissions but higher NO x emissions were produced by pre-chamber jet ignition due to the faster burning velocity and higher combustion temperature.