- *Uniting Texas and New Mexico* (2021)
- *The Life of William Barret Travis: A Biography* (2018)
- *The Texas-New Mexico Boundary Dispute* (2016)
- *The Alamo and Beyond: A History of Texas Independence* (2015)
- *The Making of the Old West: A Brief History of the Trans-Mississippi Frontier, 1803-1883* (2013)
- *The Indian Frontier of the American West, 1846-1890* (2012)
- *The War with Mexico: A History of the American-Mexican War, 1846-1848* (2010)
- *A Texas State of Mind: Cultural Evolution on the Lone Star Frontier* (2008)
- *The Rough Riders in the Spanish-American War* (2008)
- *Texas Through Time: A History* (2007)
- *The Last Comanche Chief: The Life and Times of Quanah Parker* (2006)
- *The Forgotten Battles: The Stories of America's Deadliest Conflicts* (2005)
- *The San Juan Hill Campaign: Triumph and Tragedy* (2004)
- *Rough-Hewn Men: Soldiers of the American Revolution* (2003)
- *The Civil War on the Western Border, 1854-1865* (2002)
- *The Fate of the Corps: What Really Happened to the Army of the Potomac* (2001)
- *A Soldier of the Mexican-American War: General Persifor F. Smith* (1996)
Articles
Ayers has also written numerous articles for magazines and journals, including:
- "The Battle of Resaca de la Palma: A Turning Point in the Mexican-American War"
- "The Battle of Palo Alto: The First Battle of the Mexican-American War"
- "The San Jacinto Campaign: Sam Houston and the Battle for Texas Independence"
- "The Battle of the Alamo: A Symbol of Texan Courage"
- "The Texas Revolution: A Fight for Independence"
- "The Civil War on the Western Border: A Theater of Conflict"
- "The Fate of the Corps: What Really Happened to the Army of the Potomac"
- "A Soldier of the Mexican-American War: General Persifor F. Smith"
- "The Forgotten Battles: The Stories of America's Deadliest Conflicts"