Advancement of technology for the sustainable production of biodiesel is of significant importance in fighting against rising fuel costs due to the fast depletion of fossil fuels. In this regard, the application of highly efficient MOFs (metal–organic frameworks)-based materials as acidic, basic, or supported heterogeneous catalysts plays a crucial role in enhancing the efficiency of biodiesel production processes. In this report, we demonstrate the synthesis and catalytic application of Zr-fumarate-MOF (also known as MOF-801) as a heterogeneous catalyst for the transesterification reaction of used vegetable oil (UVO) for the production of biodiesel. The formation of MOF-801 and its structural stability is confirmed by a variety of characterization techniques including XRD, SEM, EDX, FT-IR, BET, and TGA analyses. The results revealed the formations of highly crystalline, cubic MOF-801 possessing thermal stability below 500 °C. The MOF-801 catalyst demonstrated moderate catalytic activity during transesterification of UVO (~60%) at 50 wt.% of methanol: oil, 10 wt.% catalyst loading, 180 °C reaction temperature, and 8 h of reaction time. Furthermore, the catalyst has exhibited adequate reusability with a slight reduction in the reaction yield of up to ~10% after three cycles.