They Raced for Treasure (1946)
Flight to Adventure (1947)
Captain Bounsaboard and the Pirates (1949)
There's No Escape (1952)
Treasure Ahead (1954)
The Silver Sword (1956)
     aka Escape from Warsaw
Ivory Horn (1960)
Challenge of the Green Knight (1966)
Havelok the Dane (1967)
Havelok the Warrior (1968)
Heracles the Strong (1970)
Marko's Wedding (1972)
The Robin and the Wren (1974)

The Guide Gift Book: Original stories and ideas for girls seeking entertainment and adventure in and out of doors (1950) (with Violet Needham)
Poems and Pictures (1958)
Stories from Shakespeare (1964)
The Enchanted Island: Stories from Shakespeare (1964)
Selected Stories from the Enchanted Island: Stories from Shakespeare (1967)
Murder At Dunsinane: And Other Stories from Shakespeare (1967)
Robin in the Greenwood: Ballads of Robin Hood (1968)
A Puffin Quartet of Poets (poems) (1970) (with Eleanor Farjeon, James Reeves and E V Rieu)
Robin and His Merry Men: Ballads of Robin Hood (1970)
The Road to Canterbury (1979)
I'll Tell You a Tale: A Collection of Poems And Ballads (1982)
Sun Goes Free and Other Poems (poems) (1985)
Through Sand, Snow and Steam: Historical Short Stories (2004) (with Theresa Breslin, Christine Hall and Dennis Hamley)

Chaucer and His World (1967)
Goodwood Country in Old Photographs (1987) (with Richard Pailthorpe)