In urban areas, emergency vehicles (EVs) need efficient traffic signal preemption to ensure timely responses during peak hours. While emergency vehicle traffic signal preemption (EVTSP) has garnered significant attention in the literature, the issues of queue spillbacks and negative impacts on non-priority traffic have been relatively underreported. These issues are particularly critical during peak hours, notably in densely populated urban areas. This study presents an EVTSP system that considers queue spillbacks on approaches along the routes of EVs and the negative impacts of signal preemption on non-priority traffic. The proposed control system has four key components: (1) a queue length management algorithm to ensure that an EV will not be impeded by excessive queues, particularly on its initial approaches along its route; (2) a signal preemption algorithm to guarantee uninterrupted passage of an EV even for approaches experiencing queue spillbacks; (3) a traffic status recovery algorithm to alleviate the extra waiting time for non-priority vehicles after an EV crosses each intersection; and (4) a signal plan recovery algorithm to smoothly transit traffic signals to normal operation. The experimental results confirm that the proposed system considerably improves the travel time of an EV and mitigates the negative impacts on non-priority traffic.