The small-scale rotating drum reactor (SS-RDR) was designed and constructed without using purge gas for the purpose of household application. The thermal and torrefaction characteristics of SS-RDR were studied and compared with other reactor types. It was found that the heat loss at the reactor wall and heat loss from exhaust gas of the SS-RDR were in the range of 6.3−12.4% and 27.9−42.8%, respectively. The increase of flue gas temperature resulted in the decrease of heat loss at the reactor wall and the increase of heat loss from exhaust gas. The heating rate of the SS-RDR was in the range of 7.3−21.4 °C/min. The higher heating value (HHV) ratio, mass yield, and energy yield ofthe SS-RDR were in the range of 1.2−1.6, 35.0−81.0%, and 56.2−96.5%, respectively. A comparison of torrefaction characteristics of various reactor types on HHV ratio-mass yield-iso-energy yield diagram indicated that the torrefaction characteristics of the SS-RDR were better than that of the rotating drum reactor with purge gas.