Cingulum series

• The Cingulum (1985)
• Cloak Of Illusion
• The Sword, The Jewel, and The Mirror (1988)

Act Of God series

• Act Of God (1985) (with Eric Kotani)
• The Island Worlds (1987) (with Eric Kotani)
• Between The Stars (1988) (with Eric Kotani)
• Delta Pavonis () (with Eric Kotani)

Conan series

• Conan the Valorous (1985)
• Conan the Champion (1987)
• Conan the Marauder (1988)
• Conan The Bold (1989)
• Conan the Rogue (1991)
• Conan and the Manhunters (1994)
• Conan and The Treasure Of Python (1994)
• Conan and the Amazon (1995)

Dragonlance series

• Murder In Tarsis (1996)

Falconer Series

• The Falcon Strikes (writing as Mark Ramsay)
• The Black Pope (writing as Mark Ramsay)
• The Bloody Cross (1982) (writing as Mark Ramsay)
• The King's Treasure (1983) (writing as Mark Ramsay)

Gabe Treloar series

• A Typical American Town (1994)
• Ghosts of Saigon (1996)
• Desperate Highways (1997)

Space Angel series

• Space Angel (1979)
• Spacer: Window of the Mind (1988)

SPQR series

• SPQR (1990) (also SPQR I: The King's Gambit)
• The Catiline Conspiracy (1991)
• The Sacrilege (1992)
• The Temple Of The Muses (1999)
• Saturnalia (1999)
• Nobody Loves A Centurion (2001)
• The Tribune's Curse (2003)
• The River God's Vengeance (2004)
• The Princess and the Pirates (2005)
• A Point of Law (2006)
• Under Vesuvius (2007)
• Oracle of the Dead (December 9, 2008)
• The Year of Confusion (February 16, 2010)

Stormlands series

• The Islander (1990)
• The Black Shields (1991)
• The Poisoned Lands (1992)
• The Steel Kings (1993)
• Queens of Land and Sea (1994)

Hannibal series

• Hannibal's Children (2002)
• The Seven Hills (2005)

Individual novels

• Cestus Dei (1983)
• The Strayed Sheep Of Charun (1977)
• King Of The Wood (1983)
• The Enigma Variations (1989)
• Delta Pavonis (with Eric Kotani) (1990)
• Legacy of Prometheus (2000)
• Total Recall 2070: Machine Dreams (2000)