An exhaust system for a motorcycle includes a muffler configured for attachment at a location substantially beneath a motorcycle engine. The muffler includes a first input port and a second input port. A first exhaust pipe has a first longitudinal length. The first exhaust pipe is configured for extending between and connecting the first input port and a first exhaust port of a first motorcycle engine cylinder while being substantially entirely disposed forwardly of a motorcycle engine. A second exhaust pipe has a second longitudinal length substantially equal to the first longitudinal length. The second exhaust pipe is configured for extending between and connecting the second input port and a second exhaust port of a second motorcycle engine cylinder. A motorcycle including an exhaust system is also provided.