Torrefaction is a technology for the preliminary thermochemical treatment of biomass in order to improve its fuel characteristics. The aim of this work is to conduct comparative studies and select the optimal operating conditions of fluidized bed torrefaction for the processing of poultry litter (PL) into an environmentally friendly fuel. PL torrefaction was evaluated according to three different process configurations: (1) torrefaction of PL pellets in a fixed bed in a nitrogen medium at temperatures of 250 °C, 300 °C and 350 °C (NT1, NT2 and NT3); (2) torrefaction of PL pellets in a fluidized bed of quartz sand in a nitrogen medium at temperatures of 250 °C, 300 °C and 350 °C (NT4, NT5 and NT6); and (3) torrefaction of PL pellets in a fluidized bed of quartz sand in an environment of superheated steam at temperatures of 250 °C, 300 °C and 350 °C (ST1, ST2 and ST3). The duration of the torrefaction process in all experiments was determined by the time required for completion of CO2, CO, H2, and CH4 release from the treated biomass samples. The gas analyzer (Vario Plus Syngaz) was used to measure the concentration of these gases. The torrefaction process began from the moment of loading the PL sample into the reactor, which was heated to the required temperature. After the start of the torrefaction process, the concentration of CO2, CO, H2, and CH4 in the gases leaving the reactor initially increased and, subsequently, dropped sharply, indicating the completion of the torrefaction process. The chemical composition of the obtained biochar was studied, and it was found that the biochar contained approximately equal amounts of oxygen, carbon, nitrogen, hydrogen and ash, regardless of the torrefaction method. Furthermore, the biogas yield of the liquid condensate, obtained from the cooling of superheated steam used in the torrefaction process, was evaluated. The results highlight the efficiency of fluidized bed torrefaction, as well as the performance of superheated steam as a fluidization medium.