This study aimed at further improving the combustion efficiency of the diesel rotary engine (DRE), and in this regard a novel natural gas-diesel rotary engine (NO-DRE) was numerically studied. Based on the experimental validated computational fluid dynamics (CFD) model, a 3D-dynamic numerical study of the NG-DRE was carried out by adopting NG port injection plus diesel direct injection mode. The influence of natural gas injection timing (NGIT) and diesel injection timing (DIT) on air-fuel mixing, combustion and emission characteristics were explored. Simulation results showed that NG-DRE performance was better than DRE. During the entire air-fuel mixing process, NG movement was easily affected by the vorticity density due to its good diffusion characteristics, however its influence on diesel movement was relatively minimal. At assisted ignition timing, NG concentrated at the rear of the combustion chamber, and diesel concentrated at the front and middle of the combustion chamber. Delaying NGIT and DIT, the mixture became more concentrated due to a shorter mixing time. Moreover, the delayed NGIT and DU resulted in improvement of the pressure and combustion rate, while for a further delayed DIT the pressure was decreased due to the pressure negative work. Considering the engine power and emission performance, for dual-fuel injection schemes, 340 degrees CA BTDC and 70 degrees CA BTDC were the preferred application schemes for NG and diesel respectively. Their peak combustion pressure (P-max) increased by 16.34% and 27.38% respectively, but due to the richer mixture, soot value increased by 0.023% and 0.054% and CO (carbon monoxide) value also increased by 0.026% and 0.039% respectively.