In order to enhance rhizoremediation performance, which remediates contaminated soils using the interactions between plants and microorganisms in rhizosphere, it is required to develop effective microbial resources that simultaneously degrade contaminants and promote plant growth. In this study, heavy metal-resistant rhizobacteria, which had been cultivated in soils contaminated with heavy metals (copper, cadmium, and lead) and diesel were isolated from rhizospheres of maize and tall fescue. After that, the isolates were qualitatively evaluated for plant growth promoting (PGP) activities, heavy metal tolerance, and diesel degradability. As a result, six strains with heavy metal tolerance, PGP activities, and diesel degradability were isolated. Strains CuM5 and CdM2 were isolated from the rhizosphere soils of maize, and were identified as belonging to the genus Cupriavidus. From the rhizosphere soils of tall fescue, strains CuT6, CdT2, CdT5, and PbT3 were isolated and were identified as Fulvimonas soli, Cupriavidus sp., Novosphingobium sp., and Bacillus sp., respectively. Cupriavidus sp. CuM5 and CdM2 showed a low heavy metal tolerance and diesel degradability, but exhibited an excellent PGP ability. Among the six isolates, Cupriavidus sp. CdT2 and Bacillus sp. PbT3 showed the best diesel degradability. Additionally, Bacillus sp. PbT3 also exhibited excellent heavy metal tolerance and PGP abilities. These results indicate that the isolates can be used as promising microbial resources to promote plant growth and restore soils with contaminated heavy metals and diesel.