One way to increase overall natural gas engine efficiency is to transform exhaust waste heat into useful energy by means of a bottoming cycle. Organic Rankine cycle (ORC) is a promising technology to convert medium and low grade waste heat into mechanical power and electricity. This paper presents an energy and exergy analysis of three ORC-Waste heat recovery configurations by using an intermediate thermal oil circuit: Simple ORC (SORC), ORC with Recuperator (RORC) and ORC with Double Pressure (DORC), and Cyclohexane, Toluene and Acetone have been proposed as working fluids. An energy and exergy thermodynamic model is proposed to evaluate each configuration performance, while available exhaust thermal energy variation under different engine loads was determined through an experimentally validated mathematical model. Additionally, the effect of evaportating pressure on net power output , absolute thermal efficiency increase, absolute specific fuel consumption decrease, overall energy conversion efficiency, and component exergy destruction is also investigated. Results evidence an improvement in operational performance for heat recovery through RORC with Toluene at an evaporation pressure of 3.4 MPa, achieving 146.25 kW of net power output, 11.58% of overall conversion efficiency, 28.4% of ORC thermal efficiency, and an specific fuel consumption reduction of 7.67% at a 1482 rpm engine speed, a 120.2 L/min natural gas Flow, 1.784 lambda, and 1758.77 kW mechanical engine power.