* The Mindful Animal: Observations from the Heart (1998)
* The Human and the Animal: Relating across the Boundaries (2001)
* Animal Encounters (2003)
* Dogs Unleashed: The Evolutionary Origins and Domestication of the Dog (2009)
* Life Histories of Familiar Animals (2012)
* The Language of Animals (2015)
Articles and Essays:
* "The Life of a Dog" (1995)
* "Animal Sentience and the Lessons of Science" (2000)
* "The Evolution of Animal Communication" (2002)
* "The Domestic Dog: A Model for Evolutionary Biology" (2005)
* "Animals and the Human Imagination" (2008)
* "The Science of Animal Intelligence" (2011)
* "The Future of Animal Studies" (2014)