Great introduction to the topic. It first introduces the different types of change: pronunciation, lexical, semantic, morphological and syntactic. Then it explores Old English, Middle English, Early Modern English and Modern English.
Each of these chapters is divided into historical and sociological issues, literature, and linguistic changes. It includes tons of examples and a closing section in each chapter with study questions.
Even if you've never studied the topic before, it will be easy to follow. It was my first foray into old English and middle English and I could follow it perfectly and I kinda had fun. It's entertaining if you like linguistics.