He was the author of many works on legal torts and property law and is noted for being the father of the famed spiritualist and peace activist, Evelyn Underhill.

[9] Margaret Cropper suggested that ‘Sir Arthur Underhill really discovered his daughter in her late teens, and became aware then of her good brain and penetrating ability.’[10] Despite this early distance, Cropper noted that family life was ‘secure and affectionate’ and that ‘Evelyn remained through their whole lives very much at her parents' call and very sure of their value.’[11] His daughter shared her father's interest in the law.

While it appears that Underhill exerted little influence on his daughter’s interest in religion, his autobiography reveals he was a convinced Deist, and argued against the sufficiency of science to produce a satisfying view of life.

The trip, which Evelyn repeated through her early adulthood, enabled her to discover a kind of religious life and worship that was unknown to her in England.

Some of his more famous works include A Practical and Concise Manual of the Procedure of the Chancery Division of the High Court of Justice both in Actions and Matters (1881); A Concise Guide to Modern Equity Being a Course of Nine Lectures [revised and enlarged] (1885); A Summary of the Law of Torts, or, Wrongs Independent of Contract (1911); The Line of Least Resistance: An Easy but Effective Method of Simplifying the Law of Real Property (1919) all published by Butterworth in London.

[14] He also authored Our Silver Streak, or the Yachtsman's Guide to the English Channel: Simple Navigation for Home Waters; and Courses and Distances round the British Isles.