- ''Symptoms of Loss: Poems,'' Oxford University Press, 1965
- ''All the Time in the World,'' Ross, 1966
- ''Sugar Daddy,'' Oxford University Press, 1970
- ''Some Sweet Day,'' Oxford University Press, 1975
- ''Love-Life'' (with drawings by Jessica Gwynne), André Deutsch, 1979
- ''No Particular Place to Go,'' Cape, 1981
- ''Writing Home,'' Oxford University Press, 1985
- ''Selected Poems,'' Oxford University Press, 1989
- ''Self-Portrait with a Slide,'' Oxford University Press, 1990
- ''Dock Leaves,'' Faber and Faber, 1994
- ''Freelancing: Adventures of a Poet,'' Faber and Faber, 1995
- ''Penguin Modern Poets 11,'' (Michael Donaghy, Andrew Motion, Hugo Williams) Penguin, 1997
- ''Some RB and Black Pop,'' Greville Press, 1998
- ''Billy's Rain,'' Faber and Faber, 1999
- ''Curtain Call: 101 Portraits in Verse,'' (editor) Faber and Faber, 2001
- ''Collected Poems,'' Faber and Faber, 2002
- ''Dear Room, ''Faber and Faber 2006
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