* The Green Field (1947)
* Time Shall Whisper (1951)
* Winter in April (1953)
* No Time to Look Back (1956)
* Touch and Go (1959)
* The Flight from the Enchanter (1962)
* The Smiling Phoenix (1964)
* Icicle Comets (1967)
* Night Walkers (1969)
* The Lake (1972)
* The Secret-keeper (1974)
* Summer in the Spring (1977)
* Out in the Midday Sun (1981)
* Love's Old Sweet Song (1984)
* The Dark Side (1986)
* No Enemy But Time (1989)
* The House Divided (1991)
* Once Again the Nightingale (1994)
* The Sleeping Prince (1997)
* The Summer's Tale (1998)
Collections
* Love That Endures (1971)
* Friends and Kindred (1976)
* The Ursula Venables Collection: The House Divided and The Summer Tale (1999)
Short Stories
* The Green Field (1947)
* The Night Walkers (1969)
* Icicle Comets (1967)
Autobiography
* An Untidy Life: The Autobiography of Ursula Venables (1992)