| Children's novels |
- The Chronicles of Robin Hood (Oxford, 1950), illus. C. Walter Hodges
- The Queen Elizabeth Story (1950) illus. C. Walter Hodges
- The Armourer's House (1951) illus. C. Walter Hodges
- Brother Dusty-Feet (1952), illus. by C. Walter Hodges
- Simon (1953), illus. Richard Kennedy
- Outcast (1955), illus. Richard Kennedy
- Warrior Scarlet (1958), illus. Charles Keeping
- Knight's Fee (1960), illus. Charles Keeping
- Bridge Builders (1960), illus. Douglas Relf
- Beowulf: Dragonslayer (1961) illus. Charles Keeping
- The Hound of Ulster (1963), illus. Victor Ambrus
- The Mark of the Horse Lord (1965), illus. Charles Keeping
- The Chief's Daughter (1967), illus. Victor Ambrus
- The High Deeds of Finn MacCool (1967), illus. Michael Charleton
- A Circlet of Oak Leaves (1968), illus. Victor Ambrus
- The Witch's Brat (1970), illus. Richard Lebenson
- The Truce of the Games (1971), illus. Victor Ambrus
- Heather, Oak, and Olive (1972), illus. Victor Ambrus
- The Capricorn Bracelet (1973), illus. Charles Keeping (later, Richard Cuffari)
- The Changeling (1974), illus. Victor Ambrus
- We Lived in Drumfyvie (1975), by Sutcliff and Margaret Lyford-Pike
- Blood Feud (1976), illus. Charles Keeping
- Sun Horse, Moon Horse (1977), illus. Shirley Felts
- Shifting Sands (1977), illus. Laslzo Acs
- Song for a Dark Queen (1978)
- Eagle's Egg (1981), illus. Victor Ambrus
- Bonnie Dundee (1983)
- Flame-coloured Taffeta (1986), illus. Rachel Birkett
- The Roundabout Horse (1986) illus. Alan Marks
- A Little Dog Like You (1987) illus. Jane Johnson
- The Best of Rosemary Sutcliff (1987), illus. Charles Keeping—omnibus edition of Warrior Scarlet, The Mark of the Horse Lord, and Knight's Fee (1958–1965)
- The Minstrel and the Dragon Pup (1993, posthumous), illus. by Emma Chichester Clark
- Black Ships Before Troy (1993, posth.), illus. Alan Lee
- Chess-dream in a Garden (1993, posth.), illus. Ralph Thompson
- The Wanderings of Odysseus (1995, posth.), illus. Alan Lee
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