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This article describes and evaluates an Organic Rankine Cycle (ORC) for waste heat recovery system both theoretically as well as experimentally. Based on the thermodynamic analysis of the exhaust gas temperature identified at different locations of the exhaust manifold of an engine, the double-pipe, internally–externally protruded, finned counter flow heat exchanger was innovatively designed and installed in diesel engine for exhaust waste heat recovery (WHR). The tests were conducted to find the performance of heat recovery system by varying the fin geometries of the heat exchanger. The effect of heat exchanger on emission parameters is investigated and presented in this work. The experimental results demonstrated that the amount of heat transfer rate, the effectiveness of heat exchange rand the brake thermal efficiency improved with an increase in length and number of the fins. A significant reduction was observed in all major emissions after the implementation of catalytic-coated, protracted finned counter flow heat exchanger. It also demonstrated the possibility of electric power production using steam turbo-electric-generator setup driven by the recovered exhaust heat energy.