- Autobiography "Living Dangerously" published by Time Warner Books UK (1992)
- Book "Atlantis of the Sands: The Search for the Lost City of Ubar" published by Trafalgar Square (1993)
- Book "Beyond the Limits: The Lessons Learned from a Lifetime's Adventures" published by Little Brown (2000)
- Book "Discovery Road," written with Tim Garratt and Andy Brown, published by Travellerseye Ltd (2000)
- Book "Mind over Matter: The Epic Crossing of the Antarctic Continent" published by Delacorte Press (1994)
- Book "Race to the Pole: Tragedy, Heroism, and Scott's Antarctic Quest" published by Hyperion (2004)
- Book "Shadows on the Wasteland: Crossing Antarctica with Ranulph Fiennes" published by Overlook TP (1996)
- Book "The Feather Men" published by William Morrow & Co. (1993)
- Book "The Secret Hunters" published by Little Brown (2001)
- Book "To the Ends of the Earth: The Transglobe Expedition, the First Pole-to Pole Circumnavigation of the Globe" published by HarperCollins (1983)
- (2009) Author "Mad Dogs and Englishmen"; Publisher: Hodder & Stoughton, London; ISBN: 0340925027.
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