I second the recommendation of The Copernican Revolution, and suggest another book on the same topic: Arthur Koestler's The Sleepwalkers.

Koestler was a great novelist (his best known novel, Darkness at Noon, rivals 1984 in its portrayal of totalitarian thought) and a brilliant, eclectic and sometimes bizarre thinker. The Sleepwalkers is a grand history of astronomy and cosmology from ancient times to Newton, with the bulk of the focus on Copernicus, Kepler and Galileo.

Pros: Fascinating and very detailed biographical information on these three figures (and others like Tycho Brahe), presented in a way that reads like a novel, indeed a page-turner. His biography of Kepler is especially unforgettable, very different from a dry academic presentation. The historical presentation is peppered with opinionated philosophical and even sociological detours.

Cons: unbalanced covering of different topics, subjective and somewhat biased viewpoints. In particular, his interpretation of the relationship between Kepler and Galileo, and of Galileo's dealings with the Church, is colored by what seems to be a strong personal dislike of Galileo. His interpretation of the reasons why the heliocentric model was rejected in ancient times is also unreliable.

As long as his interpretations are taken with a grain of salt (or balanced with a more objective presentation like Kuhn's) I would definitely recommend it; it is the most enjoyable book on history of science I have read.