Alternative biomass for energy can reduce fossil fuel use and environmental impacts, providing energy security in semi-arid areas with shallow soils that are not ideal for agro-forestry. The densification of sorghum biomass (SB) brings its energetic characteristics closer those of wood. Higher heating value (HHV) represents the heat produced by a given quantity of fuel. This Brazilian research tested different mixtures of SB, eucalyptus wood (W), and eucalyptus bio-oil (Bo) as briquettes for HHV and least ash. Compressed mixtures of SB+B were compared to W+Bo and SB+W+Bo. The concentrations of bio-oil added to SB/W were 1%, 3%, 4%, and 5%. SB+W+Bo composites’ W content was 0%, 25%, 50%, 75%, and 100%, with Bo as 3% of the weight. Sorghum biomass’ HHV is equivalent to W at 3%Bo. Bo doses of 4% and 5% had the same HHV as 3%. Eucalyptus wood did not have a significantly greater HHV with any amount of Bo. SB+W+3%Bo had the same HHV as W when W was at least 50% of the mixture. At greater than 36%W, the ash content was lower than 3%, meeting the EN-B international standard. The optimal composite mixture was 64%SB+36%W+3%Bo for HHV and ash content. SB briquettes can be more widely adopted given sorghum’s prevalence in semi-arid environments.