In a process for producing fatty acid alkyl esters and glycerol comprising at least one reaction stage in which a charge comprising a vegetable and/or animal oil and an alcohol are brought into contact, in the presence of a heterogeneous catalyst, so as to obtain an effluent comprising at least alkyl esters, glycerol and alcohol, and at least one separation stage during which a separation is carried out of at least one portion of the effluent so as to separate an alcohol-rich effluent and an alkyl esters-rich effluent, at least one separation stage consists of a membrane separation using at least one alcohol-permeable membrane.