Fast pyrolysis of agricultural residues from sugarcane and cassava plantations was carried out in a laboratory-scale free-fall reactor unit. The objectives of this work were to investigate the effects of biomass types and pyroysis conditions, such as reactor temperature, condensation temperature, nitrogen flow rate and run duration, on pyrolysis product distribution, as well as to study the basic properties of the products. The results showed that all of the parameters affected the product distribution. The optimum reactor temperatures for maximising bio-oil yield were in the range of 350-450 °C. About 70 wt% of bio-oil yield could be obtained by pyrolysis of cassava stalk at a reactor temperature of 450 °C and a primary condensation temperature of 10 °C. It was also found that the minimum flow rate of nitrogen for obtaining high bio-oil yield was 1.5 l/min. The product characterisation showed that the bio-oil and char produced from the agricultural residues with the free-fall reactor unit were to a certain extent similar to those produced from different types of biomass with different types of pyrolysis reactor configurations. © 2012 Elsevier Ltd.