Various compositions of refuse derived fuel (RDF), and the differences in its thermal degradation behavior, make the modeling, design, and operation of thermal conversion systems a challenge. In this paper, the pyrolysis characteristics of RDF in a pilot-scale unit were investigated to determine the operating conditions for a 30 kg/h scale pyrolysis melting incinerator. The gaseous volatile and tar components in the pyrolysis products were measured using gas chromatography (GC). The morphology of the char derived from RDF pyrolysis was observed using scanning electron microscopy (SEM). The Arrhenius parameters and prediction of the pyrolysis time were obtained from isothermal kinetic results. The results of the kinetic analysis indicated that the first-order reaction model was reliable for predicting the conversion of RDF pyrolysis. A reasonable thermal decomposition scheme of RDF pyrolysis has also been discussed.