Pyrolysis of biomass including palm shell, palm kernel, and cassava pulp residue was studied in a laboratory free-fall reactor with three separated hot zones. The effects of pyrolysis temperature (250-1050 ∘ C) and particle size (0.18-1.55 mm) on the distribution and properties of pyrolysis products were investigated. A higher pyrolysis temperature and smaller particle size increased the gas yield but decreased the char yield. Cassava pulp residue gave more volatiles and less char than those of palm kernel and palm shell. The derived solid product (char) gave a high calorific value of 29.87 MJ/kg and a reasonably high BET surface area of 200 m 2 /g. The biooil from palm shell is less attractive to use as a direct fuel, due to its high water contents, low calorific value, and high acidity. On gas composition, carbon monoxide was the dominant component in the gas product. A pyrolysis model for biomass pyrolysis in the free-fall reactor was developed, based on solving the proposed two-parallel reactions kinetic model and equations of particle motion, which gave excellent prediction of char yields for all biomass precursors under all pyrolysis conditions studied.