Low-cost air quality sensor systems can be deployed at high density, making them a significant candidate of complementary tools for improved air quality assessment. However, they still suffer from poor or unknown data quality. In this paper, we report on a unique dataset including the raw sensor data of quality-controlled sensor networks along with co-located reference data sets. Sensor data are collected using the AirSensEUR sensor system, including sensors to monitor NO, NO2, O3, CO, PM2.5, PM10, PM1, CO2and meteorological parameters. In total, 85 sensor systems were deployed throughout a year in three European cities (Antwerp, Oslo and Zagreb), resulting in a dataset comprising different meteorological and ambient conditions. The main data collection included two co-location campaigns in different seasons at an Air Quality Monitoring Station (AQMS) in each city and a deployment at various locations in each city (also including locations at other AQMSs). The dataset consists of data files with sensor and reference data, and metadata files with description of locations, deployment dates and description of sensors and reference instruments.