Modern Robotics
This is an awesome textbook I recommend as a second read. The reason being is that it requires a significant amount of linear algebra (LA) background and is not always the simpilest introduction to robotics. This is because this book heavily teaches screw theory, twists, and product of exponent coordinate systems - dependant on an understanding of both differential equations and LA.
However, it is awesome in the sense that it provides both:
But, I do recommend first starting with robotics from the DH parameters before moving on to more complicated derivations.