When properly compatibilized, the blending of polyethylene (PE) and polyamide (PA) leads to materials that combine low prices, suitable processability, impact resistance, and attractive mechanical properties. Moreover, the possibility of using these polymers without prior separation may be a suitable opportunity for their recycling. In this work, the use of an epoxidized waste vegetable oil (EWVO) was investigated as a green compatibilizer precursor (CP) for the reactive blending of a high-density PE (HDPE) with a polyamide-6 (PA6). EWVO was synthesized from waste vegetable cooking oil (WVO) using ion-exchange resin (Amberlite) as a heterogeneous catalyst. HDPE/PA6 blends were produced with different weight ratios (25/75, 75/25, 85/15) and amounts of EWVO (1, 2, 5 phr). Samples with WVO or a commercial fossil-based CP were also prepared for comparison. All the blends were characterized by scanning electron microscopy (SEM), differential scanning calorimetry (DSC), rheology, and mechanical tests. In the case of HDPE/PA6 75/25 and 85/15 blends, the addition of EWVO at 2 phr showed a satisfactory compatibilizing effect, thus yielding a material with improved mechanical properties with respect to the blend without compatibilizer. On the contrary, the HDPE/PA6 25/75 ratio yielded a material with a high degree of crosslinking that could not be further processed or characterized. In conclusion, the results showed that EWVO had a suitable compatibilizing effect in HDPE/PA6 blends with high HDPE content, while it resulted in unsuitable for blends with high content of PA6.