If you are retiring and can prove you have enough income to live on you dont have to pay import duty. However if you have to work when you come here you will have to pay the import duty.
We had a beautiful almost new car when we moved over and after working out the cost of transport and the duty we would have had to pay plus all the hassle involved we reluctantly sold it before coming over.
Also worth bearing in mind is the type of vehicle.
With the high kerbs and bad road surfaces(in some place no proper road surface) 4x4 vehicles are by far the best for Cyprus as the roads play havoc with other cars.