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This study was conducted at Kalemando, North Darfur State, Sudan. The objective was to investigate diet selection by camels and develop plant relative preference indices. The Parker loop method was used to determine range botanical composition and the bite count technique was used to assess diet botanical composition. A questionnaire was also developed to capture pastoralists' perceptions on range plant preferences. We found that the herbaceous plants most preferred by camels in the southern site were Ipomoea sinesisvar (RPI=65.05) and Corchorus olitorius (RPI=29.14). Eragrostis diplachnoides was desirable (RPI=0.70) while the rest of the plants were undesirable (RPI <0.70). In the northern site plants most preferred were Justicia kotschyi, Tephrosia uniflora, Tripogon minmus, Aristida mutabilis and Echinocloa colonum. Browse trees preferred by camels were Acacia mellifera (37.28%), Acacia tortils (16.66%), Permina resinosa (9.75%) and Boscia sengalensis (7.08%). For rangelands improvement in these area with plants preferred by the camel, such as, Ipomoea sinensis, Justicia kotschyi, Corchorus olitorius, Echinochloa colona, Aristida abscensionis, Tephrosia uniflora, Dactyloctenium aegyptium, Oxygonum atriplicifolium and Eragrostis diplachnoides, as well as Acacia mellifera should be considered.