Compact recuperative heat exchangers are critical components in supercritical carbon dioxide (sCO2) waste heat to power conversion systems. To investigate their thermohydraulic performance, a model based on the segmental design and the ε-NTU method has been developed. Four different types of heat exchanger have been considered: printed circuit heat exchanger with straight channels (PCHE-SC); printed circuit heat exchanger with zigzag channels (PCHE-ZC); microtube heat exchanger (MTHE) and microtube heat exchanger with separator sheets (MTHE-SS). The performance of the heat exchangers for different fluid mass flow rates, temperatures and lengths was investigated in terms of Nusselt number, heat transfer coefficient, friction factor, pressure drop, heat transfer rate, entropy generation rate and augmentation entropy generation number. Results show that these parameters significantly impact on the thermohydraulic performance of compact recuperative heat exchangers and their optimal design. For the same operating conditions and equal heat transfer rate, PCHE-ZC and MTHE-SS can have a significantly smaller size than PCHE-SC and MTHE. The augmentation entropy generation number also demonstrates the improved performance and compactness that can arise from zigzag channels and separator sheets, making them suitable for demanding high pressure and temperature applications such as sCO2 heat to power conversion systems.