Torrefaction is the promising process of pretreating biomass materials to increase the quality of their energy, especially to upgrade the materials’ grindability so that it is suitable for a commercial pulverizer machine. In this study, torrefaction of oak, bamboo, oil palm trunk, and rice husk was carried out under different torrefaction temperatures (300 °C, 330 °C, and 350 °C) and different torrefaction residence times (30, 45, and 60 minutes). Complete characterization of the torrefied biomass, including proximate analysis, calorific value, thermogravimetric analysis, mass yield, energy yield, and grindability properties (Hardgrove Grindability Index) was carried out. Increasing the torrefaction temperature and residence time significantly improved the calorific value, energy density (by reducing the product mass), and grindability of the product. Furthermore, for commercial purposes, the torrefaction conditions that produced the desired grindability properties of the torrefied product were 330 °C-30 minutes and 300 °C-45 minutes, and the latter condition produced a higher energy yield for bamboo, oil palm trunk, and rice husk; however, torrefaction of oak did not achieve the targeted grindability property values.