- Job and the Mystery of Suffering: Spiritual Reflections (1988)
- Near Occasions of Grace (1993)
- Grace in Action (1994)
- Quest for the Grail (1994)
- Radical Grace: Daily Meditations (1995)
- The Good News According to Luke: Spiritual Reflections(1997)
- Everything Belongs: The Gift of Contemplative Prayer (1999)
- Hope Against Darkness: The Transforming Vision of Saint Francis in an Age of Anxiety (2000)
- Simplicity: The Freedom of Letting Go (2003)
- Soul Brothers: Men in the Bible Speak to Men Today (2004)
- Adam's Return: The Five Promises of Male Initiation (2004)
- Contemplation In Action (2006)
- Things Hidden: Scripture as Spirituality (2008)
- The Naked Now: Learning to See as the Mystics See (2009)
- On the Threshold of Transformation: Daily Meditations for Men (2010)
- Breathing Under Water: Spirituality and the Twelve Steps (2011)
- Falling Upward: A Spirituality for the Two Halves of Life (2011)
- A Lever and a Place to Stand: The Contemplative Stance, the Active Prayer (2011)
- Preparing for Christmas: Daily Meditations for Advent (2012)
- Immortal Diamond: The Search for Our True Self (2013)
- Yes/And . . .: Daily Meditations (2013)
- Silent Compassion: Finding God in Contemplation (2014)
- The Divine Dance: The Trinity and Your Transformation (2016)
- Richard Rohr: Essential Teachings on Love (2018)
- The Universal Christ: How a Forgotten Reality Can Change Everything We See, Hope For, and Believe (2019)