With the growing demand of vehicle-mounted sensors over the last years, the amount of critical data communications has increased significantly. Developing applications such as autonomous vehicles, drones or real-time high-definition entertainment, require high data-rates on the order of multiple Gbps. In the next generation of vehicle-to-everything (V2X) networks, a wider bandwidth will be needed, as well as more precise localization capabilities and lower transmission latencies than current vehicular communication systems due to safety application requirements. 5G millimeter wave (mm-wave) technology is envisioned to be the key factor to the development of this next generation of vehicular communications. However, the implementation of mm-wave links arises with difficulties due to blocking effects between mm-wave transceivers, as well as different channel impairments for these high frequency bands. In this work, the mm-wave channel propagation characterization for V2X communications has been performed by means of a deterministic in-house 3D ray launching simulation technique. A complex heterogeneous urban scenario has been modeled to analyze the different propagation phenomena of multiple mm-wave V2X links. Results for large and small-scale propagation effects are obtained for line-of-sight (LOS) and non-LOS (NLOS) trajectories enabling inter-data vehicular comparison. A campaign of measurements has been performed in the real scenario, validating the mm-wave propagation channel characterization. These analyzed results and the proposed methodology can aid in an adequate design and implementation of next generation vehicular networks.