His novels include:
* The Vorpal Blade (1987)
* The Bones of the Old Ones (1989)
* The Doom of Camelot (1991)
* The Song of Roland (1993)
* The Legend of Robin Hood (1995)
* The King Arthur Trilogy (1997-1999)
- Book One: The Dragon Throne
- Book Two: The Saxon Shore
- Book Three: The Final Conquest
Knepfler has also written several short stories that have been published in various anthologies.