The invention relates to a lighting and/or signaling system for motor vehicles, including a light source and a lens configured for receiving light rays coming directly or indirectly from the source through an input surface and for emitting a first output beam providing a first regulatory lighting and/or signaling function through an output surface. A waveguide is configured for directly or indirectly receiving light rays coming from the source through an input surface and for emitting a second output beam through an output surface, wherein a coupling zone of the waveguide is located opposite a portion of either the input surface of the lens or the output surface of the lens.