He died, aged 80, on 18 November 1851, at 40 Brunswick Street, Haggerston; he was survived by Eliza Herbert, probably his daughter.

With Edward Wedlake Brayley he produced in 1803 a volume of tales and poems, entitled Syr Reginalde, or the Black Tower; a romance of the Twelfth Century (London), and in 1806 a history of Lambeth Palace, which he dates from Globe Place, Lambeth.

He was also associated with Robert Wilkinson in producing Londina Illustrata, an illustrated account of ancient buildings in London and Westminster in two volumes (1819–25).

Herbert is best known for his History of the Twelve great Livery Companies of London, (1836–7, 2 vols).

He also published: His collections, mainly in manuscript, for the history of London livery companies, chantries and monasteries, were preserved in the Guildhall Library.