Three different Organic Rankine Cycle (ORC) configurations have been studied to recover power from six-cylinder turbocharged diesel engine waste stream. Multiple temperature profiles of diesel engine waste streams make it convenient to study different ORC configurations from the integration to extract power. A dual loop ORC operates with MM and cyclopentane as working fluids for high temperature engine exhaust waste heat recovery and R-134a has been used as working fluid for low temperature heat recovery from jacket cooling water. This configuration generates a maximum total power of 103.551 kW for Cyclopentane at Pr = 0.9 for exhaust gas exit temperature of 373.15 K. A PH HT-LT-ORC preheats the high temperature feed fluid using jacket cooling water and expander exhaust is used for LT-loop power recovery; this configuration produces a maximum power output of 91.22 kW. MM based preheated ORC (PH-ORC) with R-245fa LT-Loop has been studied to understand the power recovery potential. This configuration generates a power output of 99.12 kW. The exergy efficiency of DL-ORC for both the working fluids has been calculated as it generates the highest power compared to other schemes.