Firth's works include:
- The Clarke Papers (1891–1901), a collection of documents relating to the English Civil War and Commonwealth.
- Cromwell's Army: A History of the English Soldier During the Civil Wars, the Commonwealth, and the Protectorate (1902).
- The Regimental History of Cromwell's Army (1902).
- Oliver Cromwell (1900), a biography.
- The Last Years of the Protectorate (1909), a history of the last years of Oliver Cromwell's rule.
- The House of Lords During the Civil War (1910), a study of the House of Lords during the English Civil War.
- The English Revolution: A History (1928), a one-volume history of the English Revolution.
Firth was also a prolific editor of historical documents, including:
- The Diary of Thomas Burton, MP, for the Parliament of 1656–57 (1898)
- The Journal of George Fox (1891)
- The Life of Robert Blake, Admiral and General-at-Sea (1888)
- The Life of Colonel Hutchinson, Governor of Nottingham (1885)
Firth's work is still considered valuable by historians today, and his books continue to be cited in scholarly works.