The paradigm shift towards sustainable growth is urgent, and biomass, which is the oldest energy source that humans have used since the discovery of fire, might play an important role. Biomass waste from forestry and agriculture is expected to fuel part of the increasing demand for biomass, and its valorization allows for more the efficient use of nutrients and resources. In this study, we carried out an extensive literature review on the valorization of residual agroforestry biomass since the 1970s to understand the leading research focuses on the subject over the last few decades, identify the most recent trends, and establish a possible solution path for the future of biomass. It was observed that most studies focused on biomass as being capable of replacing fossil energy sources. According to the literature, biomass has the most significant potential to meet requirements and ensure fuel supplies in the future. The developments of the last decades have significantly improved the conversion processes, leading to greener solutions, but there is still much to be studied and put into practice. Closing the loop into biomass waste recovery will be essential for a genuinely circular bioeconomy.