Recovering energy from waste energy sources is an important issue as environmental pollution and the energy crisis become serious. In the same context, recovering liquefied natural gas (LNG) cold energy from an LNG-powered ship is also important in terms of energy savings. To this end, this study investigated a novel solution for a LNG-powered ship to recover LNG cold energy. Six different organic Rankine cycle (ORC) systems (three for high-pressure dual-fuel engines and three for medium-pressure dual-fuel engines) were proposed and optimized; nine different working fluids were investigated; annualized costs for installing proposed ORC systems were estimated based on the optimization results. In addition, a sensitivity analysis was performed to identify the effect of uncertainties on the performance of the ORC systems. As a result, the ORC system for the medium-pressure engines with direct expansion, multi-condensation levels, and a high evaporation temperature exhibited the best performance in terms of exergy efficiency, net power output and actual annualized cost. These results demonstrate the possibility of replacing a typical LNG supply system with an ORC system.