Essential oils are derived from not-fatty parts of plants and are mostly used in aromatherapy, as well as cosmetics and perfume production. The essential oils market is growing rapidly due to their claimed health benefits. However, because only therapeutic grade oil is required in the medicinal sector, there is a substantial low-value waste stream of essential oils that can be used in the transportation and agricultural sectors. This study investigated the influence of orange, eucalyptus, and tea tree oil on engine performance and combustion characteristics of a multi-cylinder compression ignition engine. Orange, eucalyptus, and tea tree oil were blended with diesel at 10% by volume. For benchmarking, neat diesel and 10% waste cooking biodiesel-diesel blend were also tested. The selected fuels were used to conduct engine test runs with a constant engine speed (1500 RPM (revolutions per minute)) at four loads. As the load increased, frictional power losses decreased for all of the fuel samples and thus mechanical efficiency increased. At higher loads (75% and 100%), only orange oil-diesel blends produced comparable power to diesel and waste cooking biodiesel-diesel blends. Fuel consumption (brake and indicated) for the essential oil-diesel blends was higher when compared to base diesel and waste cooking biodiesel-diesel blends. Thermal efficiency for the essential oil-diesel blends was comparable to base diesel and waste cooking biodiesel-diesel blends. At higher loads, blow-by was lower for essential oil blends as compared to base diesel and waste cooking biodiesel-diesel blends. At 50% and 100% load, peak pressure was lower for all of the essential oil-diesel blends when compared to base diesel and waste cooking biodiesel-diesel blends. From the heat release rate curve, the essential oil-diesel blends ignition delay times were longer because the oils have lower cetane values. Overall, the low-value streams of these essential oils were found to be suitable for use in diesel engines at 10% blends by agricultural producers of these oils.