The Geometry of Minkowski Spacetime - An Introduction to the Mathematics of the Special Theory of Relativity

From the reviews of the second edition:

"This text brings sophisticated mathematical structures and tools to play, yet much of the work would be accessible to a motivated undergraduate. ... The author lays out his goal very clearly: 'It is the intention of this monograph to provide an introduction to the special theory of relativity that is mathematically rigorous and yet spells out in considerable detail the physical significance of the mathematics.' He then proceeds to accomplish this admirably. ... the underlying mathematics is wonderful, worth studying for its own sake." (William J. Satzer, The Mathematical Association of America, May, 2012)