Agriculture and agro-food industry produce large quantities of biomass wastes and by-products that could be used for energy purposes. In this paper, the residues from tomato, wine and olive industries and beech wood, considered as reference material, were investigated to verify their relevant behavior in torrefaction. This process gives to the biomass characteristics similar to those of the coal, facilitating their co-combustion. The aim of the research was to define the properties of the various torrefied products made with different operating conditions: temperature of process between 180° C and 315° C and time process lower than 1 h. Thermogravimetric analysis (TGA) and laboratory analysis have been utilized to assess the physical properties and energy content of the different materials and the energy balances of the different trials. Given the different composition of the products, the results highlight the need to adopt different torrefaction temperatures and process times, depending on the type of biomass. In general, the higher process temperatures provide products with physical and chemical characteristics similar to coal. Biomass with higher content in holocellulose requires lower treatment time.