Brilliant book by P.V.R. Narasimha Rao introduces a lot of basic concepts in a systematic way with examples and exercises. It covers various teachings of Maharshi Parasara and Maharshi Jaimini and various other scholars. It forms a good basis for more advanced works. It covers a wide spectrum of topics and tries to maintain some level of clarity even while covering too many things.
http://www.geocities.com/pvr108/bookinfo.htm
Three books by pandit Sanjay Rath - prominent works on Vedic Astrology with deep and comprehensible explanation of different aspects of Jyotish.
http://sanjayrath.tripod.com/zbooks.htm
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