Nowadays, the chemical industry is looking for sustainable chemicals to synthesize nanocomposite bio-based polyurethane foams, PUs, with the aim to replace the conventional petrochemical precursors. Some possibilities to increase the environmental sustainability in the synthesis of nanocomposite PUs include the use of chemicals and additives derived from renewable sources (such as vegetable oils or biomass wastes) which comprise an increasing wider base raw materials. Generally, sustainable PUs exhibit chemico-physical, mechanical and functional properties which are not comparable with those of PUs produced from petrochemical precursors. In order to enhance the performances as well as the bio-based aspect, the addition in the polyurethane formulation of renewable or natural fillers can be considered. Among these, walnut shells and cellulose are very popular wood-based waste and due to their chemical composition, carbohydrate, protein and/or fatty acid, can be used as reactive fillers in the synthesis of PUs, diatomite as natural inorganic nanoporous filler can be also evaluated to improve mechanical and thermal insulation properties of rigid PUs. In this respect, sustainable nanocomposite rigid PU foams are synthesized by using a cardanol-based Mannich polyol, MDI as isocyanate source, catalysts and surfactant to regulate the polymerization and blowing reactions, H2O as sustainable blowing agent and suitable amount (5wt%) of ultramilled walnut shell, cellulose and diatomite as filler. The effect of these fillers on the chemico-physical, morphological, mechanical and functional performances on PU foams has been analyzed.