Currently, researchers are seeking to reduce heavy metal contamination from the environment, using agricultural waste materials like rice husk, groundnuts shells among others. The study focused on the removal of Cu(II), Pb(II), Cd(II), Ni(II), and Cr(III) ions from aqueous solutions and Nakuru industrial wastewater using sugarcane bagasse (NSCB) and valorised bagasse ash (VSCB), as alternative low-cost agricultural waste bio-sorbents. To achieve this goal, sugarcane bagasse was collected from Nzoia sugar industry in western Kenya, while the valorised bagasse was obtained by heating sugarcane bagasse sample in a muffle furnace at 300°C for three hours. Furthermore, batch adsorption studies were performed, and the effects of several factors, i.e. adsorbent particle size, pH, contact time, initial heavy metal ions concentration and temperature were investigated to optimise the removal efficiency of Pb, Cu, Cd, Ni, and Cr. The optimal adsorption conditions were pH of 5.0, adsorbent dosage of 0.1 g and ≤ 150µm particle size, equilibrium time of 60 minutes and at 25 degrees Celcius. The removal kinetics of the metal ions onto both adsorbents fitted well with the pseudo-second-order model. The removal kinetics of the metal ions onto both adsorbents fitted well with the pseudo-second-order model. The adsorption of Pb2+ and Ni2+ onto NSCB fitted better with the Freundlich isotherm model, while Cd2+, Cu2+ and Cr3+ showed better fit for the Langmuir isotherm model. As for VSCB adsorbent, Cr3+ has a better fit with the Langmuir isotherm model whereas Pb2+, Ni2+, Cd2+, and Cu2+ fitted well on the Freundlich isotherm model. Freundlich constant’s (1/n) values and the separation factor (RL) from the Langmuir isotherm model indicate that the metal ions were favourably adsorbed onto the adsorbents. Langmuir isotherm model was used to estimate the maximum adsorption capacities (qmax) for Cu(II), Pb(II), Ni(II), Cd(II), and Cr(III). The negative free energy change (∆G) values revealed that adsorption process of the metal ions onto NSCB and VSCB was spontaneous. Fourier Transform Infrared Spectroscopy (FTIR) was used for characterization studies. Interactions with metal ions caused the frequencies of the active functional groups, –OH, C=O and C=C, on the bio-sorbent surfaces to shift to higher values. Therefore, sugarcane bagasse and valorised bagasse have demonstrated higher potential to remove relatively all selected heavy metals in the industrial wastewater at controlled pH.