(This list is incomplete.)
- The Bushbabies, 1965, Houghton Mifflin Co., Library of Congress No. 65-2509. Children's story inspired by his own family's adventures in Africa.
- The Bormann Brotherhood, 1973 (non-fiction)
- A Man Called Intrepid, 1976, Harcourt, ISBN 0-15-156795-6. (non-fiction)
- The Ghosts of Africa, 1980, Harcourt, ISBN 9780151353385 ISBN 0151353387. Historical fiction set in WW1 colonial German East Africa.
- Intrepid's Last Case, 1983, Michael Joseph Ltd, ISBN 0-7181-2441-3. (non-fiction)
- Booby Trap, 1987 (fiction)
- Kiss the Boys Goodbye: How the United States Betrayed Its Own POWs in Vietnam, 1990, Dutton, ISBN 0-525-24934-6. Co-written with his wife Monika Jensen-Stevenson. (non-fiction)
- The Revolutionary King: : the true-life sequel to the King and I, 2001, Constable and Robinson, ISBN 1-84119-451-4.
- Spymistress: The Life of Vera Atkins, the Greatest Female Secret Agent of World War II, 2006, Arcade Publishing, ISBN 978-1559707633. (biography)