The aim of this work was to develop different polymers to be used as support for immobilization of lipase for biodiesel production with ethanol and soybean oil. Terpolymers based on methyl metacrylate (MMA), glycidyl methacrylate (GMA) and vinyl pivalate (VPi) were synthesized with different monomer compositions. They were tested as supports for immobilization of a lipase from Burkholderia cepacia. The polymer samples 5 (synthesized with MMA-VPi-GMA, following the 50:20:30 mass proportion) and 6 (using MMA-VPi-GMA with 70:20:10 mass proportion in toluene) presented the highest immobilization yield of 95 % and 97 %, respectively. The immobilized lipases were applied in transesterification reactions with soybean oil:ethanol ratio of 1:3. The conversions of FAEE (fatty acid ethyl esters) obtained after 96 h at 37 °C ranged from 13 % to 35 %. The lipase was successfully immobilized on the synthesized terpolymers and presented activity in the transesterification reaction. An optimization of the process is required to achieve greater ester yields.