Apart from numerous scientific papers and popular natural history articles in Walkabout, Wildlife, Australian Outdoors, Pix and People Magazine, books authored, coauthored or contributed to by Worrell include:
- 1953 - Dangerous Snakes of Australia and New Guinea. (Angus and Robertson)
- 1958 - Song of the Snake. (Angus and Robertson)
- 1962 - Australian Reptile Park (A.R.P.). (Angus and Robertson)
- 1964 - Reptiles of Australia. (Angus and Robertson)
- 1966 - Australian Wildlife. (Angus and Robertson)
- 1966 - Australian Snakes, Crocodiles and Tortoises. (Angus and Robertson)
- 1966 - The Great Barrier Reef. (Angus and Robertson)
- 1966 - The Great Extermination. (part author) — (Heinemenn) by Alan Moorhead
- 1967 - Trees of the Australian Bush. (co-author) (Angus and Robertson)
- 1968 - Making Friends with Animals. (Angus and Robertson)
- 1970 - Australian Birds and Animals. (Angus and Robertson)
- 1977 - Things that Sting. (Angus and Robertson)