- American Institute of Graphic Arts Book Show awards, 1955–57, for Roar and More, 1958–60, for Square as a House, and 1958, for In the Middle of the Trees.
- Children’s Book Award, International Reading Association, 1976, for Near the Window Tree: Poems and Notes.
- Children’s Book Showcase selection, Children’s Book Council, 1976, for Near the Window Tree, and 1977, for A Boy Had a Mother Who Bought Him a Hat.
- Award for Excellence in Poetry for Children, National Council of Teachers of English, 1979.
- New York Academy of Sciences Children’s Science Book Award, 1980, for A Space Story.
- American Library Association (ALA) Award, 1980, for Dogs and Dragons, Trees and Dreams: A Collection of Poems.
- Named Outstanding Brooklyn Author, 1981.
- New York Times Best Illustrated Book designation, and ALA Award, both 1982, and National Book Award nomination, 1983, for The Philharmonic Gets Dressed.
- Parents’ Choice Award for Literature, 1986, for The Dallas Titans Get Ready for Bed, and 1987, for Jerusalem Shining Still.
- Parenting-Reading Magic Award, 1992, for Soap Soup.
- Parents’ Choice Humor Book award, 1993, for A Great Miracle Happened There.
- John S. Burroughs Science Award, 1994, for City Dog.
- Children’s Books of Distinction Award, Riverbank Review, 1999, for The Sky Is Always in the Sky.
- Lifetime Achievement Award from the Bank Street College of Education, 2004.
- Washington State Book Award for So, What’s It Like To Be A Cat?, 2006.