Global warming is accelerating due to the increase in greenhouse gas emissions. Accordingly, research on the use of biomass as energy sources, is being actively conducted worldwide to reduce CO2 emissions. Although the production of agro-byproducts is vast, their utilization for energy production has not been fully investigated. This study suggests an optimal torrefaction process condition for agro-byproducts, such as grape branch and perilla, that have moisture content but low calorific values. To determine whether these agro-byproducts can be used for energy sources as substituents of fossil fuels, a mass reduction model was established and validated via experimental results. Thermogravimetric analysis was conducted for different heating rates, and the activation energy and frequency factor were derived through the analysis. The model was developed by changes in rate constants, moisture content, ash content, and lignocellulose content in biomass. To ascertain the optimal torrefaction conditions, fuel characteristic analysis and changes in energy yield of torrefied grape branch and perilla were investigated. The optimal torrefaction conditions for grape branch and perilla were 200 °C for 40 min and 230 °C for 30 min, respectively. The comparison result of the experiment and simulation at the optimum conditions of mass reduction were 1.42%p and 1.51%p, and 15 °C/min and 7.5 °C/min at heating rate, respectively.