A waste heat recovery apparatus includes a waste processing module and a heat recovery module. The waste processing module includes a heat exchange unit and a drive unit. The heat exchange unit includes a hollow tubular structure having at least one material inlet, at least one material outlet and a screw mounted axially thereinside. The drive unit rotates the screw to extrude the waste material. The heat recovery module includes a heat storage unit, at least one conveying pipeline and a compression unit. The heat storage unit contains a heat-storing medium for storing thermal energy. The conveying pipeline connected to the heat exchange unit and the heat storage unit allows a working medium to flow through the heat exchange unit and the heat storage unit. The compression unit coupled to the conveying pipeline circulates the working medium to flow in the conveying pipeline.