The council-owned home library vans, which had books and audio books on board at the time, were stolen from a locked compound.
The service, which supports people confined to their own homes in Dudley and Wolverhampton, had to be halted for a day following the thefts.
Dudley Council bosses have been forced to hire replacement vans so they can continue the service and deliver books to people's homes.
The thefts have been branded as 'thoughtless' and 'nasty' by one councillor.
Brierley Hill Councillor Rachel Harris hit out at the thieves for the disruption caused.
"This theft is thoughtless, nasty and has cost our taxpayers money," she said. "It is such an important and popular service for those people who are unable to get out of their homes, that we have quickly resumed the service by using hire vehicles.
"The library service is a lifeline for people who are unable to get out of their homes.
"We want to get their vans get the service back to normal. The service is coping but it is a blow."
It is believed the raid was planned as the thieves were able to cut the locks of the gates to access the compound.
The three home library vans were stolen from a locked site in Tipton Road, Dudley next to the Black Country Living Museum.
The white Transit vans were emblazoned with the Dudley Council logo and the words 'Home Library Service.
One of the vans has since been recovered. It was found in Hazelbeech Road, West Bromwich at about 9.30am but the other two have not turned up.
Police believe the theft happened sometime between 6pm on Monday and 7.30am on Tuesday.
The yobs also damaged another smaller vehicle, a Transit Connect van, at the compound although they did not take it.
Council staff contacted service users to tell them they would not be having their book service on Tuesday.
West Midlands Police are investigating the thefts.
Anyone with any information should call the police on 101.