Due to the rising worldwide awareness of green environment, both government and contractors have to consider effective construction and demolition (C&D) waste management practices. The last two decades have witnessed the growing importance of demolition and renovation (D&R) works and the growing amount of D&R waste disposed to landfills every day, especially in developed cities like Hong Kong. Quantitative waste prediction is crucial for waste management. It can enable contractors to pinpoint critical waste generation processes and to plan waste control strategies. In addition, waste estimation could also facilitate some government waste management policies, such as the waste disposal charging scheme in Hong Kong. Currently, tools that can accurately and conveniently estimate the amount of waste from construction, renovation, and demolition projects are lacking. In the light of this research gap, this paper presents a building information modeling (BIM) based system that we have developed for estimation and planning of D&R waste. BIM allows multi-disciplinary information to be superimposed within one digital building model. Our system can extract material and volume information through the BIM model and integrate the information for detailed waste estimation and planning. Waste recycling and reuse are also considered in our system. Extracted material information can be provided to recyclers before demolition or renovation to make recycling stage more cooperative and more efficient. Pick-up truck requirements and waste disposal charging fee for different waste facilities will also be predicted through our system. The results could provide alerts to contractors ahead of time at project planning stage. This paper also presents an example scenario with a 47-floor residential building in Hong Kong to demonstrate our D&R waste estimation and planning system. As the BIM technology has been increasingly adopted in the architectural, engineering and construction industry and digital building information models will likely to be available for most buildings (including historical buildings) in the future, our system can be used in various demolition and renovation projects and be extended to facilitate project control.