This study investigates the influence of biodiesel blends produced from agro-industrial residues of palm oil (Elaeis guineensis), on the performance and emission characteristics of a small diameter single-cylinder diesel engine. The engine tests have been performed at three different loads with a constant speed of 3600 rpm. Experimental results have showed that the blends of biodiesel PB5 and PB10 cause a consumption of 1.12% and 2.45% higher than diesel. The addition of biodiesel from palm oil residues has allowed the reduction of CO, CO2, and HC emissions by 28.6%, 12.6%, and 14.3%. However, biodiesel has caused an increase in NOx emissions and smoke density. The evaluation of the thermal efficiency of the brake has showed a difference of 2.4% and 3.7% for PB5 and PB10 compared to conventional diesel. Similar efficiency compared to diesel and significant reductions in CO, CO2, and HC emissions, show that biodiesel blends produced from palm oil agro-industrial wastes have the potential to replace partially the diesel content in the fuel, thus contributing to the reduction of engine emissions and reducing the environmental pollution caused by this type of waste.