Practical Reasoning: The Structure and Foundations of Prudential and Moral Arguments and Their Exemplification in Discourse (Oxford: Clarendon Press, 1963)
The Logic of Leviathan: The Moral and Political Theory of Thomas Hobbes (Oxford: Clarendon Press, 1969)
Morals by Agreement (Oxford: Oxford University Press, 1986)
Moral Dealing: Contract, Ethics, and Reason (Ithaca, Cornell University Press, 1990)
Rousseau: The Sentiment of Existence (Cambridge: Cambridge University Press, 2006)