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In this work, a sulfated titanium dioxide (STi) catalyst obtained from a commercial TiO2 precursor was synthesized and characterized. The catalyst was sulfated by the simple impregnation method with H2SO4 and subsequently calcined at different temperatures. The synthesized catalyst was characterized by X-ray Diffraction (XRD), Energy-Dispersive Spectroscopy (EDS), and Scanning Electron Microscopy (SEM). The sulfated catalyst was thermally treated at different temperatures (100, 200, 400, and 600 °C) and evaluated in oleic acid esterification reactions by varying the concentration of the catalyst during the conversion of oleic acid to methyl oleate. The conversion was measured from the variation of the acid index (AI)° and free fatty acids (FFA) during the reaction. The STi catalyst obtained was compared with two homogeneous catalysts, H2SO4 and ferric sulfate [Fe2(SO4)3], evaluating the reaction time in the conversion, from which improvements in the reaction performance of the catalyst synthesized in this work were observed versus the two homogeneous catalysts mentioned earlier. Catalyst reuse cycles were also evaluated as well as their performance in the esterification of waste cooking oil. The best catalyst yields reached values close to 86% in a reaction time of 6 h.