Due to the rapid development of the global economy, fossil oil is widely used, leading to its depletion and gradual deterioration of the global environment, including global warming, the greenhouse effect, fog, and haze. Therefore, many researchers have been interested in studying alternative fuels in an attempt to develop an eco-friendly fuel to replace traditional fuel and solve the above environmental problems. Biodiesel is a renewable and eco-friendly fuel that is the most promising alternative fuel for diesel engines, and a significant amount of research and development has focused on biodiesel. Canola oil biodiesel (COB) is one type of biodiesel, and it has an advantage in oil production per unit area compared with other biodiesels. This paper summarizes and reviews studies related to the use of COB in different diesel engines under a variety of operating conditions. We focus on evaluating the combustion and emission characteristics of COB based on a large number of papers (including our previous studies). In addition, this paper serves as a valuable reference for in-depth studies of COB use in diesel engines, as it covers the topic from the production of COB to its use in diesel engines.