 Exhibiting a very high surface area, a good electrical conductivity and a high density of active sites, nitrogen-doped graphenic materials are considered as promising catalysts for the oxygen reduction reaction (ORR). Seldom studied in acidic media, N-doped graphenic foams were tested here as the cathode catalysts of a polymer electrolyte membrane fuel cell (PEMFC). The materials were prepared via a solvothermal-based process, by reacting either cyclohexanol and ethanolamine or 1-(2-hydroxyethylethyl) piperidine with metallic sodium, under high pressure and temperature. Membrane electrode assemblies were prepared with a Pt/C anode, 212 Nafion membrane, and an 8 mm disk cathode based on the graphenic materials. The performance exhibited by the PEMFC was evaluated using chronopotentiometry and impedance spectroscopy, depending on the synthesis conditions. The kinetic parameters of the ORR were estimated by interpretation of the experimental data: the high Tafel slope found might express the partial control of oxygen diffusion through the graphenic microporous structure. Relationships between the electrochemical behavior of the materials and their structural properties are discussed. Moderately crystallized materials with a low oxygen content showed the highest catalytic properties, with a current density larger than 30 mA cm−2 and a maximum power density at 2.3 mW cm−2.