Daniell is perhaps best known as the appointed artist for an expedition to Africa and the renderings he did there of African animals. In December, 1799, he went to South Africa for the first time. The drawings he made in southern Africa including a journey to Bechuanaland were published by his brother William Daniell in London. During the trip to Bechuanaland he was named the official secretary and artist for the trip. The trip went from Cape of Good Hope to Bechuanaland. He returned to England from the trip and co-published with William Daniell and Thomas Daniell, African Scenery and Animals, in 1804.
He later on lived in Sri Lanka, then called Ceylon, from 1806 to his death from tropical fever. Twelve of his drawings also were published by his brother in 1806 with the title: A Picturesque Illustration of the Scenery, Animals and Native Inhabitants of Ceylon.
After Samuel Daniell's death, further engravings based on his drawings were published: In 1820, forty-eight lithographs titled Sketches Representing the Native Tribes and Scenery of Southern Africa, and in 1832, Twenty Varied Subjects of the Tribe of Antelopes.
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- "Daniell, Samuel". Dictionary of National Biography. London: Smith, Elder & Co. 1885–1900.
- "Samuel Daniell – African scenery and animals, 1804–1805". Galaxy of Images. Smithsonian Institution Libraries.
- "Sketches Representing the Native Tribes, Animals, and Scenery of Southern Africa: From Drawings Made by the Late Mr. Samuel Daniell". World Digital Library. 1820. Retrieved 2013-07-06.
- Catalogue of drawings by British artists and artists of foreign origin, pg 17
- Sutton, Thomas. The Daniells: artists and travellers (Bodley Head, 1954).
- Samuel Daniell, (South Africa Holiday)