Biomass quality is important to strengthen the use of species as reliable energy sources. This study aimed to characterize the energy quality attributes of bamboo species (Bambusa vulgaris, Bambusa tuldoides, Dendrocalamus giganteus and Guadua angustifolia) biomass, when compared to other raw materials of residual origin with a high potential for use in thermal energy generation processes (rice husk, eucalyptus chips, coconut husk and fiber). The basic density, higher calorific value and fiber, lignin and ash contents were evaluated. All the evaluated bamboo species present energy quality characteristics equivalent to those of biomasses traditionally used in thermal energy generation, such as high energy density (2,415-2,967 Mcal m-3), high calorific power (4,359-4,568 kcal kg-1), high basic density (0.537-0.653 g cm-3) and low ash content (1.41-2.41 %). The bamboo biomasses of the four evaluated species present adequate characteristics as fuel for thermal energy generation processes, with potential for use in several industrial sectors.