An alternative for the disposal of solid and agricultural waste is their use for energy. But some difficulties still need to be overcome due to their characteristics, such as low density and heterogeneity. This study aimed to test the extrusion process to produce composites of Refuse-Derived Fuel (RDF) mixed with eucalyptus bark and sugarcane straw, for energy purpose. Six treatments were produced in a single screw extruder with replacement of 10, 25, and 50 % of the RDF in the biomass. The physical, chemical, and energetic characteristics of the treatments were assessed. The extrusion process helped to enhance essential factors for fuel viability. Composite material (RDF + biomass) reached a density 2.5 times greater than in natura and moisture content decreased up to 82 %. The HHV of the composites was greater than that of the biomass. There were decreases in the composite levels of harmful elements such as chlorine and calcium. Compared with the raw materials, composite properties improved and met the standards analyzed. The results indicate that extrusion process proved to be adequate for composite production. RDF mixed with biomass generates composites with potential use for fuel production. These composites allowing formulation adaptations according to material supply and application criteria.