In this paper, a regenerative transcritical dual-loop organic Rankine cycle is proposed to recover the waste heat of the exhaust, engine coolant and all the residual heat of the HT loop. Double regenerators are adopted in this system. Transcritical cycles are used in both loops. Hexamethyldisiloxane (MM), octamethyl cyclotetrasiloxane (D-4), octamethyltrisiloxane (MDM), cyclohexane, toluene and n-decane are chosen as the candidate working fluids of the HT loop and R143a is chosen as the working fluid of the LT loop. Influences of inlet temperature of turbine T-HT (T-3) on mass flow rates (m(f,HT) and m(f,LT)), net output power (W-net), energy conversion efficiency (eta(ec)), volumetric expansion ratio (VER), ratio of power consumed to power output (COR) and component irreversibility are analyzed and performance comparison of these working fluids is also evaluated. Results show that toluene possesses the maximum W-net (42.46 kW), highest eta(e) (51.92%) and eta(ec) (12.77%). The increase of T-3 worsens system performance, decreasing W-net, eta(e) and eta(ec). Condenser C-LT and turbine T-LT possess the least system irreversibility. In addition, turbines and exhaust evaporators are optimized components. (C) 2014 Elsevier Ltd. All rights reserved.