This study characterizes and optimizes natural convection heat transfer of two Newtonian Al2O3 and TiO2/water nanofluids in a cylindrical enclosure. Nusselt number (Nu) of nanofluids in relation to Rayleigh number (Ra) for different concentrations of nanofluids is investigated at different configurations and orientations of the enclosure. Results show that adding nanoparticles to water has a negligible or even adverse influence upon natural convection heat transfer of water: only a slight increase in natural convection heat transfer of Al2O3/water is observed, while natural convection heat transfer for TiO2/water nanofluid is inferior to that for the base fluid. Results also reveal that at low Ra, the likelihood of enhancement in natural convection heat transfer is more than at high Ra: at low Ra, inclination angle, aspect ratio of the enclosure and nanoparticle concentration influence natural convection heat transfer more pronouncedly than that in high Ra. (C) 2015 The Chemical Industry and Engineering Society of China, and Chemical Industry Press. All rights reserved.