Let $f : M \to M$ be a diffeomorphism, and (to be explicit) define the mapping torus to be
$$T_f = M \times [0,1] \,\, / \,\, (x,1) \sim (f(x),0)
$$
Pick a triangulation $\tau$ of $M$.
Perturb $f$ by a small isotopy so that the triangulations $f(\tau)$ and $\tau$ are in general position with respect to each other.
It follows that there exists a triangulation $\sigma$ of $M$ containing a subcomplex $\tau'$ which is a subdivision of $\tau$ and containing another subcomplex $\tau''$ which is a subdivision of $f(\tau)$.
Triangulate $M \times [0,1]$ as follows:
- On $M \times 0$ use $f(\tau) \times 0$.
- On $M \times \frac{1}{2}$ use $\sigma \times \frac{1}{2}$.
- You can now extend the triangulations on $M \times 0$ and $M \times \frac{1}{2}$ to give a triangulation of $M \times [0,\frac{1}{2}]$.
- On $M \times 1$ use $\tau \times 1$.
- You can now extend the triangulations on $M \times \frac{1}{2}$ and on $M \times 1$ to give a triangulation of $M \times [\frac{1}{2},1]$.
This triangulation on $M \times [0,1]$ now descends to a triangulation on $T_f$.