This work focuses on the potential for waste energy recovery from exhaust gases in a diesel light-duty vehicle tested under real driving conditions, fueled with animal fat biodiesel, Gas To Liquid (GTL) and diesel fuels. The vehicle was tested following random velocity profiles under urban driving conditions, while under extra-urban conditions, the vehicle followed previously defined velocity profiles. Tests were carried out at three different locations with different altitudes. The ambient temperature (20 ± 2 °C) and relative humidity (50 ± 2%) conditions were similar for all locations. Exergy analysis was included to determine the potential of exhaust gases to produce useful work in the exhaust system at the outlet of the Diesel Particle Filter. Results include gas temperature registered at each altitude with each fuel, as well as the exergy to energy ratio (percentage of energy that could be transformed into useful work with a recovery device), which was in the range of 20–35%, reaching its maximum value under extra-urban driving conditions at the highest altitude. To take a further step, the effects of fuels and altitude on energy recovery with a prototype of a thermoelectric generator (TEG) were evaluated.