A system and method are provided for estimating an operating parameter of an exhaust manifold of an engine. In the system, a flow value is determined that corresponds to a flow rate of exhaust gas through an EGR conduit fluidly coupled between the exhaust manifold and the intake manifold. The EGR conduit includes an exhaust gas cooler disposed in-line with the EGR conduit and a property of the exhaust gas exiting an exhaust gas outlet of the cooler is measured. The operating parameter of the exhaust manifold is estimated as a function of at least the flow value and the property of the exhaust gas exiting the exhaust gas outlet of the cooler. Illustratively, the operating parameter of the exhaust manifold may be exhaust manifold pressure and/or temperature.