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The Buddhist Religion
A Historical Introduction
By Richard Robinson, Willard L. Johnson, and Ajahn Geoff Ṭhānissaro
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I cannot recommend this classic textbook on the history of Buddhism highly enough. Short and readable, yet thorough and precise, this must-read covers the entire history of Buddhism in a couple hundred, lively pages.
I have referenced the fourth edition on this site, but the newest available version should be preferred.