Biodiesel is a more attractive alternative fuel to diesel engines, because it is a renewable and nonpolluting fuel that can be produced from plant and animal fats. In this paper, two kinds of new nonedible herbaceous vegetable oils, including Leonurus artemisia L. (LAL) and Peganum harmala L. (PHL), have been developed for biodiesel production. Their oil content, acid value, and iodine value were found to be around 30.23 wt% and 23.21wt%, 15.67 mg KOH/g and 15.27 mg KOH/g, and 116 mg I2/100 g and 128 mg I2/100 g, respectively. The fatty acid compositions of these two oil seeds were determined. Under optimal two-step reaction conditions, the fatty acid methyl ester (FAME) yield of biodiesel was over 97.0%. Furthermore, the fuel properties of LAL and PHL biodiesels were tested and evaluated. LAL biodiesel possessed relatively higher cetane number (CN; 50) and PHL exhibited better oxidative stability (20.9 h), thus showing great potential to be employed as promising feedstocks for biodiesel production.