We develop a specification test for the transition density of a discretely-sampled continuous-time diffusion process, based on a comparison of a nonparametric estimate of the transition density or distribution function to their corresponding parametric counterparts assumed by the null hypothesis. We provide a direct comparison of the two densities for an arbitrary specification of the null parametric model using three different discrepancy measures between the null and alternative transition density and distribution functions. We establish the asymptotic null distributions of proposed test statistics and compute their power functions. The finite sample properties are critically investigated via simulation studies and are compared with other tests. Our approaches are illustrated by applications to implied volatility data and Treasury bill data.