The original set of 25 books named after their main character were published in 1978 and 1979, along with board books, shaped story books and three Timbuctoo Annuals. In 1999 eight of the books were reprinted with new illustrations to promote the television show, along with a new character, Bray.
The first twelve books were also published in Dutch, and the eight 1999 versions published in Greek.
- Woof (an ochre dog, brown in the TV series)
- Meow (an orange cat)
- Oink (a pink pig)
- Chirp (a blue bird)
- Trumpet (a grey elephant)
- Squeak (an ochre mouse)
- Moo (a brown cow, white with brown spots in the TV series)
- Buzz (a black and yellow bee, brown and yellow in the TV series)
- Neigh (a red horse)
- Roar (an amber lion)
- Snap (a green crocodile)
- Hiss (a yellow-green snake, has purple spots in the TV series)
Four of the books (Woof, Trumpet, Buzz and Oink) were republished in 1993.
- Croak (a green frog)
- Cluck (an orange hen)
- Growl (a yellow tiger with black stripes)
- Honk (a black seal, purple in the TV series)
- Chatter (an orange monkey)
- Quack (a white duck)
- Sniff (a grey rabbit, light blue in the TV series)
- Bleat (an orange goat)
- Hoot (a brown owl)
- Grizzle (a burgundy bear)
- Puff (a black and white panda)
- Squawk (a blue parrot)
- Baa (a grey and white sheep)
There was also a set of Timbuctoo Shape Books released, including Oink, Neigh, Growl, Roar, Squeak, Trumpet, Cluck and Puff.
Bray was an additional character created and written by Roger's son Adam. This was because standard TV series are often produced in 13 or 26 episode series and an additional character was required to reach 26 episodes. Eight of the original books were reprinted in 1999, with new illustrations, to accompany the TV series. While Bray was listed on the back cover along with the rest of the cast, only Buzz, Cluck, Growl, Meow, Neigh, Oink, Snap and Trumpet were reprinted.