Agroforestry waste stores a considerable amount of energy that can be used. Portugal has great potential to produce bioenergy. The waste generated during agricultural production and forestry operation processes can be used for energy generation, and it can be used either in the form in which it is collected, or it can be processed using thermochemical conversion technologies, such as torrefaction. This work aimed to characterize the properties of a set of residues from agroforestry activities, namely rice husk, almond husk, kiwi pruning, vine pruning, olive pomace, and pine woodchips. To characterize the different materials, both as-collected and after being subjected to a torrefaction process at 300 °C, thermogravimetric analyses were carried out to determine the moisture content, ash content, fixed carbon content, and the content of volatile substances; elementary analyses were performed to determine the levels of carbon, nitrogen, hydrogen, and oxygen, and the high and low heating values were determined. With these assumptions, it was observed that each form of residual biomass had different characteristics, which are important to know when adapting to conversion technology, and they also had different degrees of efficiency, that is, the amount of energy generated and potentially used when analyzing all factors.