Recently, the development of composite materials from agricultural and forestry waste has become an attractive area of research. The use of bio-waste is beneficial for economic and environmental reasons, adapting it to cost effectiveness and environmental sustainability. In the presented study, the possibility of using hazelnut shell (HS) and hydrotalcite (HT) mineral filler was investigated. The effects of fillers in the amount of 10 wt.% on selected properties of polyurethane composites, such as rheological properties (dynamic viscosity, processing times), mechanical properties (compressive strength, flexural strength, hardness), insulating properties (thermal conductivity), and flame-retardant properties (e.g., ignition time, limiting oxygen index, peak heat release), were investigated. Polyurethane foams containing fillers have been shown to have better performance properties compared to unmodified polyurethane foams. For example, the addition of 10 wt% of hydrotalcite filler leads to PU composite foams with improved compression strength (improvement by ~20%), higher flexural strength (increase of ~38%), and comparable thermal conductivity (0.03055 W m–1 K–1 at 20 °C). Moreover, the incorporation of organic fillers has a positive effect on the fire resistance of PU materials. For example, the results from the cone calorimeter test showed that the incorporation of 10 wt% of hydrotalcite filler significantly reduced the peak of the heat release rate (pHRR) by ca. 30% compared with that of unmodified PU foam, and increased the value of the limiting oxygen index from 19.8% to 21.7%.