Steam-cooked cassava preparation show variations related to the cassava piece size and the cooking mode; this presumably affect the sensory descriptors and texture of final product. In this context, a robust methodology for steam-cooked cassava preparation and texture analyses was established. After washing and cutting the roots in about 5 cm long, each piece is divided in the shape of half cylinder prior to peel, and then washed in tap water before cooking. Ideal cooking time (ICT) defined as fixed cooking duration (45 min) of cassava varieties was determined. The ICT is used to steam the samples which were tested at 45 °C by penetration test, simple compression and extrusion test using conical probe P/40C, compression plate (P/75) and Ottawa cell with 5-blade grid respectively. All methods (penetrometry, compression, extrusion) exhibited clear discrimination between cassava varieties regarding texture parameters.