Biomass can be upgraded via torrefaction, and torrefied kenaf (TK) is a fuel that allows blending with coal at high ratios. In the present study, raw kenaf (Hibiscus cannabinus L.) (RK) was torrefied at 523 K for 30 min and then mixed with Vietnamese anthracite (NinhBinh, NB) before co-pyrolysis. Thermogravimetric (TG) analysis was used to evaluate the behavior of RK, TK, and blended RK/TK during co-pyrolysis at biomass blending ratios (BBRs) of 0, 25, 50, 75, and 100 wt %. The TG and derivative thermogravimetry curves of a mixture of NB and RK (NBRK) were similar to those of RK. The decomposition curves of a mixture of NB and TK (NBTK) depended on the mass fraction of TK. Based on weight loss differences between the experimental and calculated data for the fuel blends, no interaction between the RK and anthracite was observed for all BBRs, whereas anthracite involving 50 and 75% TK exhibited synergistic effects. The temperature range for synergy and degree of synergy for NB and TK depended on the heating rate and mass ratio of TK. Kinetic parameters were calculated using the Friedman−non-isothermal free kinetic method at heating rates of 10, 20, and 40 K/min. The results showed that the activation energy (E) values of the NBRK at conversion ratios of 0.2−0.5 were equal to those of the RK, whereas they were superior at NB decomposition ratios of 0.6−0.8. NBTK1-1 (BBR of 50%) showed E values higher than those of NB at some conversion ratios, thus demonstrating a negative impact of blending. Further, NBTK1-3 (BBR of 75%) and NBTK3-1 (BBR of 25%) exhibited E values between those of NB and TK. The present study suggests that a high TK mass fraction (75%) in the blend for co-pyrolysis is optimal for the activation energy and volatile matter yield.