- 1984: "Travelers in Time" (The first book in "Gateway Worlds" series)
- 1985: "Guardians" (The second book in "Gateway Worlds" series)
- 1986: "Outcasts of Time" (The third and final book in "Gateway Worlds" series)
- 2005: "The Heart of the Sun" (The first book in "The Elven" series)
- 2007: "In the Shadow of the Moon" (The second book in "The Elven" series)
- 2007: "The Star Wolf's Son" (The first book in "Star Wolf" series)
- 2009: "The Star Queen's Son" (The second book in "Star Wolf" series)
- 2010: "Star Wolf: The Exile" (The third and final book in "Star Wolf" series)
- 2015: "The Fall of the Malkadiz Empire" (The first book in "Malkadiz" series)
- 2016: "The Rise of the Malkadiz Empire" (The second book in "Malkadiz" series)
- 2017: "The Vengeance of the Malkadiz Empire" (The third and final book in "Malkadiz" series)
Fantasy Novels:
- 1989: "Swords of Chaos" (The first book in "The Circle of Magic" trilogy)
- 1990: "Crown of Power" (The second book in "The Circle of Magic" trilogy)
- 1992: "Circle of Fear" (The third and final book in "The Circle of Magic" trilogy)
Short Story Collections:
- 2001: "The Dream Merchants"
- 2002: "The Storytellers"
As Co-Author:
- 1987: "To Shield the Sun" (Co-authored with Michael A. Stackpole)
Omnibus Editions:
- 2003: "The Gateway Worlds Omnibus" (Including the entire "Gateway Worlds" series)
- 2015: "The Star Wolf Saga" (Including the entire "Star Wolf" series)