Kinetic models play an important role especially in designing reactor, simulation and optimization of a particular chemical reaction. In this study, kinetic model of the esterification of palm fatty acid distillate (PFAD) using sulfonated incomplete carbonized glucose (SO3H/ICG) prepared via microwave-assisted heating method was developed. D(+)-Glucose was carbonized in a microwave to produce incomplete carbonized glucose (ICG). Then the ICG was sulfonated with H2SO4, heated in a microwave and stirred. The catalyst prepared was then used for esterification of PFAD at reaction temperatures of 65 C, 75 C and 85 C. The highest conversion exhibited was 95.76 % performed at 85 C, 2.5 wt% catalyst, 10:1 molar ratio of methanol to PFAD, 120 min reaction time. A kinetic model of PFAD’s esterification was developed and the model was described as a pseudo first-order reaction rate law. The value of the activation energy was 28.8 kJ/mol with R2 of 0.985.