This article assesses the current technical and economic potential of three bioenergy production systems (cassava ethanol, jatropha oil and fuelwood) in semi-arid and arid regions of eight sub-Saharan African countries. The results indicate that the availability of land for energy production ranges from 2% (1.3 Mha) of the total semi-arid and arid area in South Africa to 21% (12 Mha) in Botswana. Land availability for bioenergy production is restricted mainly by agricultural land use, but also by steep slopes and biodiversity protection. The current total technical potential for the semi-arid and arid regions of the eight countries is calculated to be approximately 300 PJ y−1 for cassava ethanol production, 600 PJ y−1 for jatropha biodiesel or 4000 PJ y−1 for fuelwood. The analysis of economic potentials shows that in many semi-arid regions, cassava ethanol, jatropha oil and fuelwood can compete economically with the reference energy sources. However, fuelwood, jatropha oil, and cassava ethanol production costs in most arid regions of sub-Saharan Africa are often above average national market prices of gasoline, diesel, and fuelwood. Nevertheless, for example, in arid Kenya 270 PJ could be produced annually with fuelwood at production costs of less than 3 US$ GJ−1. Despite high production costs, it is important to investigate and invest in sustainable bioenergy production in semi-arid and arid regions of sub-Saharan Africa because of its potential to drive rural economic and social development.