A bottoming waste-heat-recovery (WHR) model based on the Organic Rankine Cycle (ORC) is proposed to recover waste heat from exhaust gas and jacket water of a typical diesel engine (DE). The ORC model is detailed built based upon real structural and functional parameters of each component, and is able to precisely reflect the working process of the experimental ORC system constructed in lab. The DE is firstly tested to reveal its energy balance and the features of waste heat. The bottoming ORC is then simulated based on experimental data from the DE bench test using R245fa and R601a as working fluid. Thermodynamic evaluations are done on key parameters like waste heat recovered, expansion power, pump power loss and system efficiency. Results indicate that maximum expansion power and efficiency of the ORC are up to 18.8kW and 9.6%. Influences of engine condition, fluid mass flow and evaporating pressure on system performance are analyzed and meaningful regularities are revealed. The combined system of DE and bottoming ORC (DE-ORC) is also investigated. The results showed that the integration of the bottoming ORC greatly changed energy distribution of the DE, and the DE thermal efficiency is up to 47.2%, increasing by 9.0%.