Place the peeled and chopped potatoes in a large pot of salted water. Bring to a boil and cook for 15-20 minutes until fork-tender.
While potatoes boil, heat oil in a large skillet over medium heat. Add the beef sausages and cook, turning frequently, until browned on all sides and cooked through (about 12-15 minutes). Remove sausages and set aside on a warm plate.
In the same skillet (do not clean), add a knob of butter and the sliced onions. Cook over medium-low heat for 10-15 minutes until softened and caramelized golden brown.
Sprinkle flour over the onions and stir constantly for 1 minute to cook off the raw flour taste.
Gradually whisk in the beef stock and Worcestershire sauce. Bring to a simmer and let thicken for 3-5 minutes. Season with salt and pepper.
Drain the potatoes and return them to the pot. Add the remaining butter and warm milk. Mash until smooth and creamy. Season with salt and pepper.
To serve, spoon a generous mound of mashed potatoes onto a plate. Top with two or three beef sausages and pour the hot onion gravy over the entire dish. Garnish with fresh parsley.