A series of carboxylic acids was esterified to the corresponding esters with TiCl4 as catalyst at room temperature, in high yields. This catalyst was highly effective for the selective esterification of primary alcohols with carboxylic acids, in the presence of secondary alcohols, and for the selective esterification of saturated acid with alcohol in the presence of conjugated acid or aromatic acid. On account of the high yield, high chemoselectivity, mild condition, and being free of other dehydrants, this is an efficient method.