For a long period of time, vegetable oil cannot be used directly in a direct injection diesel engine. The tolerance tests may indicate significant problems. The outcome of Injection Pressures (IP) on the performance and emissions of a diesel engine powered by waste cooking oil biodiesel were explored in this study. It is investigated and standard diesel results are compared to the performance characteristics and emission studies of a single cylinder, four-stroke, direct-injection diesel engine fueled with used cooking oil in 20% (on a mass basis) blends. This study established the appropriateness of using cooking oil. The experiment consisted of running at a constant speed of 1500 rpm and then loaded gradually. The tests were conducted at 5 different loading are 0%, 25%, 50%, 75%, and 100% of the load in kW, with compression ratios of 17.5:1. The result of adjusting the injection pressure to 185–235 bars with a gap of 25 bars, with the original IP set at 210 bar. Fuel injection pressure is critical in improving engine performance and emission characteristics. The diesel engine ran on Waste Cooking Oil (WCO) at various injection pressures, including 185 bars, 210 bars, and 235 bars. The engine tests were carried out to examine how a diesel engine operating on a WCO20 biodiesel blend performed and produced emissions at varied injection pressures. Except for NOx, biodiesel blends at 235 bars injection pressure performed better and had lower emissions than those at 185 bars injection pressure. Without any modifications, the optimal fuel blend can be considered for a compression ignition engine.