The auxiliary verbs in English are be, have, and do. They are used to form tenses, moods, voices, negatives, and questions of other verbs. Be is used to form continuous and passive constructions. Have is used to form perfect tenses. Do is used to form negatives and questions in simple present and past tenses. Modal verbs like can, may, will are also considered auxiliary verbs and come before be and have in verb phrases.