Densification of thermally treated energy crops by torrefaction is required to increase the bulk density and to reduce the handling, transport, and storage cost for bioenergy applications. In this study, we investigated the densification characteristics of thermally treated energy cane and napier grass grown on marginal lands at various applied forces and binder levels. The addition of starch (0, 10, and 15%) and lignosulfonate (0, 5, and 10%) was examined to enhance the strength and durability of raw and torrefied briquettes, respectively. Although the use of starch binder relatively increased the bulk density, it did not improve the hardness and durability of untreated energy crop briquettes. The addition of 10% lignosulfonate binder increased the torrefied briquette density of up to 11% for energy cane and up to 38% for napier grass and decreased the compression energy by up to 35% for both samples. Moreover, the hardness (compressive resistance) was tripled, and the durability was relatively improved for both torrefied briquettes. The increase in applied force not only increased the bulk density but also increased the specific energy required for densification. However, there was no substantial change in hardness and durability when the compression force was increased from 15 to 20 kN for all samples. In overall, densification of thermally treated energy crops is required, and the quality of the briquettes can be improved by the use of appropriate binders for efficient handling, transport, and storage.