- No Such Liberty (1941) – novel
- Three New Poets (1942) – Alex Comfort, Roy McFadden, Ian Serraillier
- A Wreath for the Living (1942)
- Elegies (1944)
- The Power House (1944) – novel
- The Song of Lazarus (1945)
- Outlaw of the Lowest Planet by Kenneth Patchen (1946) – Preface by Alex Comfort
- Art and Social Responsibility (1946)
- The Signal to Engage (1946)
- Peace and Disobedience (1946) – pamphlet (reprinted in 1994 in Against Power and Death)
- Barbarism and Sexual Freedom (1948) – non-fiction
- On This Side Nothing (1949) – novel,influenced by Albert Camus, whose work Comfort admired
- Authority and Delinquency in the Modern State (1950)
- Sexual Behaviour in Society (1950) – non-fiction
- And All But He Departed (1951)
- A Giant's Strength (1952) – novel
- The Biology of Senescence (1956) – non-fiction
- Come Out to Play (1961) – novel
- Haste to the Wedding (1962)
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- Darwin and the Naked Lady (1962) – articles
- Sex in Society (1963) – non-fiction
- Ageing – the Biology of Senescence (1964)
- Koka Shastra, being the Ratirahasya of Kokkota, and other medieval Indian writings on love (George Allen & Unwin, 1964; translator)
- Process of Ageing (1965)
- The Nature of Human Nature – non-fiction (U.S. edition Harper & Row 1966)
- The Joy of Sex: a Gourmet Guide to Lovemaking (1972)
- More Joy of Sex: a Lovemaking Companion to The Joy of Sex (1973)
- Come out to Play (1975)
- Poems for Jane (1979)
- The Facts of Love: Living, Loving and Growing Up Crown Publishers (1980)
- I and That: Notes on the Biology of Religion (1980)
- Tetrarch (1981)-a fantasy novel inspired by William Blake
- Reality And Empathy: Physics, Mind, and Science in the 21st Century (1984)
- Imperial Patient (1987) – a historical novel about Nero
- The Philosophers (1989) – satire of Thatcher's Government set in the future.
- The New Joy of Sex: a Gourmet Guide to Lovemaking for the Nineties (1992)
- Writings Against Power and Death (1994)
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