In this paper, a new free piston expander-linear generator (FPE-LG) prototype for small-scale organic Rankine cycle (ORC) waste heat recovery system has been developed. Firstly, the in-cylinder pressure, motion characteristics and output performance of the FPE-LG with different valve timings are investigated. Then, the effect of external load resistance on motion characteristics and output performance with cam plate A is analyzed. Finally, the effect of external load resistance on the indicated efficiency with cam plate A is studied. The results show that the intake duration and exhaust duration have significant influence on the motion characteristics and output performance of FPE-LG. Compared with other cam plates, cam plate A (the intake exhaust duration is 60°, and the exhaust duration is 180°) can be considered as the best choice for FPE-LG. The external load resistance not only influences the motion characteristics but also effects the output performance. The displacement and velocity increase with increasing the external load resistance. The peak power output with cam plate A is up to 18.6 W. The indicated efficiency shows a downward tendency when the external load resistance increases, and the maximum indicated efficiency of 66.2% is achieved.