In this study, an experiment is conducted to explore the potential to protect both the environment and resource shortage of soybean straw, for combustion in a tubular furnace. Then, the combustion characteristics, gas emissions, and energy consumption of soybean straw are analyzed at a combustion temperature range of 773–1173 K. The results show that the total emissions of CO and NOX are the largest at a temperature of 873 K. For NOX, the emission time is significantly improved at temperatures of 973–1173 K. At high temperatures, the reaction of NOX with CO and coke reduces the total emission of NOX. The average weight loss rate at combustion temperatures of 973, 1073, and 1173 K increased by 27.38%, 61.47% and 77.97%, respectively, relative to that of 873 K. However, the energy consumption increases with the increase in combustion temperature, resulting in unnecessary waste. To get an optimal characteristic between energy utilization and pollutant discharge, a temperature range of 873–973 K is determined as the appropriate temperature for burning soybean straw.