Biodiesel has recently gained popularity due to its environmental issues and the fact that it is generated from renewable resources. However, the cost of the synthesis of biodiesel is the major impediment to commercialization. The utilization of leftover cooking oils as raw material, the adaptation of a continuous transesterification process, and the use of cheap catalysts are the major possibilities for investigating the cost of biodiesel. In this work, a dolomite catalyst was prepared from natural dolomite rocks and used for the evaluation of continuous transesterification of biodiesel from oleic acid as a model compound of waste cooking oil (WCO). The dolomite catalyst was prepared by activation under vacuum at a surface area of 34.5 m 2 /g. The characterization tests showed good thermal stability of the catalyst and evolution of the CaO and MgO compounds at high concentrations. A kinetic study was conducted to obtain kinetic parameters of catalytic transesterification of the WCO. The kinetic experiments were carried out at 298-333 K, and residence time up to 80 min. The results presented that the catalytic transesterification is the first-order reaction, and the activation energy was 43 kJ/mol. The oscillatory baffled reactor (OBR) was used to evaluate the dolomite catalyst for the continuous production of biodiesel via transesterification. The evaluation study was conducted at a methanol: oil mole ratio of 6:1 and the effect of different operation variables on oleic acid conversion to biodiesel was studied. These variables were temperature (323, 333, and 343 K), residence times (5-40 min), the amplitude of oscillation (2-8 mm), and frequency of oscillation (1,2,3,4, and 4.3 Hz). The results showed an outstanding performance and stable activity of the dolomite catalyst as a conversion of 96% was obtained at 333 K, 4.3 Hz, 8 mm amplitude, and 40 min residence time.