Arsenic is a well-known carcinogenic, mutagenic and toxic element and occurs in the environment both as inorganic arsenic (iAs) and organoarsenical compounds (oAsCs). Since the toxicity of arsenic compounds depends on their chemical form, the identification and determination of arsenic species are essential. Recently, the European Food Safety Authority, following the European Commission request, published a report on chronic dietary exposure to iAs and recommended the development and validation of analytical methods with adequate sensitivity and refined extraction procedures for this determination. Moreover, the authority called upon new arsenic speciation data for complex food matrices such as seaweeds, grains and grain-based products. Looking at this context, an optimized, sensitive and fast analytical method using high performance liquid chromatography followed by inductively coupled plasma-mass spectrometry (HPLC/ICP-MS) was developed for the determination of iAs (sum of arsenite-AsIII and arsenate-AsV) and the most relevant oAsCs, arsenobetaine, dimethylarsinic acid and monomethylarsonic acid. The method was validated with satisfactory results in terms of linearity, sensitivity, selectivity, precision, recovery, uncertainty, ruggedness and matrix effect, and then successfully applied for the analysis of several matrices, i.e., processed and unprocessed cereal and cereal products, fruits, vegetables, legumes, seaweeds, nuts and seeds. The results obtained indicate that not only seaweed and rice matrices but also many cereals, legumes and plant-based foods for infants and young children contain significant concentrations of iAs and oAsCs. These findings contribute to the data collection necessary to assess the role of these matrices in the total arsenic exposure and if specific maximum limits have to be established.