Sách quân đội

• 1884: Reconnaissance and Scouting
• 1885: Cavalry Instruction
• 1889: Pigsticking or Hoghunting
• 1896: The Downfall of Prempeh
• 1897: The Matabele Campaign*1899: Aids to Scouting for NCO's and Men
• 1900: Sport in War
• 1901: Notes and Instructions for the South African Constabulary
• 1914: Quick Training for War

Sách Hướng đạo

• 1908: Scouting for Boys
• 1909: Yarns for Boy Scouts
• 1912: Handbook for Girl Guides (đồng tác giả với Agnes Baden-Powell)
• 1913: Boy Scouts Beyond The Sea: My World Tour
• 1916: The Wolf Cub's handbook
• 1918: Girl Guiding
• 1919: Aids To Scoutmastership
• 1921: What Scouts Can Do
• 1922: Rovering to Success
• 1929: Scouting and Youth Movements
• 1935: Scouting Round the World

Sách khác

• 1905: Ambidexterity (co-authored with John Jackson)
• 1915: Indian Memories
• 1915: My Adventures as a Spy[30]
• 1916: Young Knights of the Empire: Their Code, and Further Scout Yarns[31]
• 1921: An Old Wolf's Favourites
• 1927: Life's Snags and How to Meet Them
• 1933: Lessons From the Varsity of Life
• 1934: Adventures and Accidents
• 1936: Adventuring to Manhood
• 1937: African Adventures
• 1938: Birds and beasts of Africa
• 1939: Paddle Your Own Canoe
• 1940: More Sketches Of Kenya