Bactrian camel (Camelus bactrianus) meat, as a product of national geographical indication, is mainly produced in the northwest regions of China. This study systematically evaluated the edible quality, nutritional quality, and carcinogenic substances of Bactrian camel meat using different heating times in four thermal processing methods (steaming, boiling, frying, and microwaving). Compared with the control group (uncooked), the thermal processing of meat demonstrated lower redness and moisture content; higher shear force values and protein, fat, and ash contents; and sharply increased the levels of amino acids and fatty acids. The moisture content of the fried and microwave-treated meat was significantly lower than that of the steamed and boiled meat (p < 0.05). Steamed meat was higher in protein but had a lower fat content than the other three processing methods (p < 0.05). Compared with frying and microwaving, meat from steaming and boiling showed higher levels of essential amino acids and lower shear force values. However, the smoke generated during frying led to the formation of large amounts of polycyclic aromatic hydrocarbons (PAHs) and nitrites, and the levels of these substances increased with heating time. In addition, with the extension of the heating time, the shear force of the meat also increased gradually (p < 0.05). In summary, steaming and boiling were proven to be suitable processing methods for preserving better nutritional values while delivering less carcinogenic risk. With our results, we have established a nutritional database for Bactrian camel meat, providing a reference for selecting a suitable thermal processing method.