A 500 h endurance test of continuous catalytic transesterification to biodiesel was conducted in a bench-scale fixed-bed reactor. A designed cylinder shape of KF/Ca-Mg-Al hydrotalcite catalyst was stable through the test with high catalytic activity and mechanical strength, converting palm oil to biodiesel with a conversion of more than 95%. Conditions effects on transesterification under relative high pressure (1.0 MPa) were investigated and a one-dimensional heterogeneous model of a fixed-bed reactor was developed to describe the reaction-mass transfer behaviors of continuous catalytic transesterification in a bench-scale fixed-bed reactor. With the given reactor size, optimum conditions were proposed as a LHSV (liquid hourly space velocity) of 0.76-0.25 h(-1), molar ratio of methanol-to-oil of 9.16-13.7, and temperature of 338-347 K.