Yoga Tantra is the third volume in The Great Exposition of Secret Mantra series in which the Dalai Lama offers illuminating commentary on Tsongkhapa's seminal text on Buddhist tantra. It is preceded by Volume I: Tantra in Tibet and Volume II: Deity Yoga.

This work opens with His Holiness the Dalai Lama presenting the key features of Yoga Tantra then continues with Tsongkhapa's section of the main text focusing on this class of tantra. This is followed by an overview of the central practices of the five manifest enlightenments and the four seals written by Khaydrub Je (Khaydrub Geleg Palsang), one of Tsongkhapa's main students and the first in the line of Panchen Lamas. Jeffrey Hopkins concludes the volume with an outline of the steps of Yoga Tantra practice, which is drawn from the Dalai Lama's, Tsongkhapa's, and Khaydrub Je's explanations.