The HSE Annual Statistics Report found that a company, which employs someone suffering from work-related stress, would lose up to 24 days per case.
The total number of working days lost has fallen over the past decade from an estimated 39.8 million in 2002 to 27 million now.
The report also found that there are higher rates of work-related stress for women than men, higher rates for middle-aged workers (ages 35-54). The highest rates are in managerial and professional occupations.
In 2011/2012 there was an estimated 212,000 injuries reported that caused workers to be off for a 3-day period.
The report claims that workplace injuries and ill health cost society an estimated £13.4 billion last year.
Alex Botha, chief executive of the British Safety Council, said: "We note encouraging signs of sustained improvement in preventing injury and ill-health in Great Britain's workplaces.
"These statistics should act as a constant reminder to all of us of the sad reality of thousands of employees being injured and made ill and those still dying needlessly as a result of preventable workplace injuries and work-related diseases.
He said: "We must continue to sustain the improvements made over the last ten years in preventing workplace injury and ill-health."
Botha added: "It is our view that enforcement continues to play an important part in helping ensure that our health and safety laws are complied with and the good standards of health and safety management are maintained."
The HSE statistics for the period August 2011 and July 2012 are taken from The Labour Force Survey (LFS), a national survey run by the Office of National Statistics (ONS).
