This lively guide by a prominent historian focuses on the role of Euclid's Elements in mathematical developments of the last 2,000 years. No mathematical background beyond elementary algebra and plane geometry is necessary to appreciate the clear and simple explanations, which are augmented by more than 80 drawings. 1963 edition.
Here's a sample of other books in this Dover category
Concepts of Modern Mathematics by Ian Stewart In this charming volume, a noted English mathematician uses humor and anecdote to illuminate the concepts of groups, sets, subsets, topology, Boolean algebra, and other mathematical subjects. 200 illustrations.
Excursions in Geometry by C. Stanley Ogilvy A straightedge, compass, and a little thought are all that's needed to discover the intellectual excitement of geometry. Harmonic division and Apollonian circles, inversive geometry, hexlet, Golden Section, more. 132 illustrations.
Famous Problems of Geometry and How to Solve Them by Benjamin Bold Each chapter devoted to single type of problem, with commentary and practice problems. Amateur puzzlists and students of mathematics will enjoy this rare opportunity to match wits with civilization's great mathematicians.
Makers of Mathematics by Stuart Hollingdale Fascinating and highly readable, this book illustrates the roles of Archimedes, Descartes, Fermat, Pascal, Newton, Einstein, and others in the development of mathematics. 1989 edition.