This is of course a very complex question because it spans many historical eras.

But I think you would be interested in a previous answer of mine about the Magna Carta and feudal political culture in the High-Medieval period here.

I'm afraid I don't know of an overall book I could recommend that covers the full topic (if someone else does, I'd be interested in recommendations here as well), but I can recommend books that touch on particular time periods and key events in the process.

In reverse chronological order:

A King's Story: The Memoirs of H.R.H. the Duke of Windsor, by the former King Edward VIII. It's a memoir written with public self-justification as a major goal, so it's important to read it critically as it touches on the character and actions of the author and his close associates. But it does give a number of useful snapshots from an inside perspective of the constitutional role of the British monarchy from the tail end of Victoria's reign through the abdication of Edward VIII in 1936.

Dreadnought, by Robert K. Massie has as its primary focus the naval arms race between Britain and Germany in the decades leading up to WW1, and the associated diplomatic dealings and internal political developments in the two countries. But by way of context, it discusses the careers of most of the top-level British political figures of the era and their respective relationships with the Crown and with Parliament. Of particular interest to your question would be the chapters covering the constitutional crisis over the "People's Budget" bill in 1909 -1910 and the associated passage of the Parliament Act of 1911. It also touches on the Napoleonic Wars and the Great Reform acts, but not in as much detail as the subject deserves from the perspective of your question.

Commentaries on the Laws of England, by Sir William Blackstone is an 18th-century scholarly treatise on English Common Law and on England's unwritten constitution as understood at the time. As a source for 18th century understandings of England's laws and constitution, it's the definitive primary source. Blackstone also gives explanations of the historical contexts of the major developments in England's constitution, but read these with a more skeptical eye as historiography has moved on somewhat in the ~250 years since Blackstone was writing.

Ungrateful Daughters, by Maurine Waller has as its focus the background, events, and consequences of the Glorious Revolution of 1688.

Arabella, by Sarah Gristwood, and The Gunpowder Plot, by Antonia Fraser both cover the background and events of the transition from the Tudors to the Stuarts in a fair amount of detail as context for their respective primary focuses (pretty much what you'd expect from the titles). Fraser's book in particular goes into a good deal of detail about the Elizabethan Religious Settlement and how it carried over into the Stuart period.

Renaissance Europe and Reformation Europe by De Lamar Jensen are college textbooks that contain decent chapters on England's political development in those respective eras. The former covers from the Wars of the Roses through the reign of Henry VII, with particular attention paid to the early Tudor constitutional reforms. The latter covers Henry VIII through the English Civil War, with particular emphasis constitutional reforms and state religious policy. The latter has quite a bit more detail on England in particular than the former, which has quite a bit of ground to cover and touches on England only briefly.

The Time Traveller's Guide to Medieval England, by Ian Mortimer is a popular history about life in 14th century England. The primary focus is on history of everyday life, but it gives a fair amount of context on the laws and institutions prior to the Wars of the Roses. It also has an extensive bibliography of more scholarly works on the time period. The same author has also written scholarly biographies of Edward III, Sir Roger Mortimer, and Henry IV, which I haven't personally read.

1066: The Year of Conquest by David Howarth, and Jennifer Paxton's "Great Courses" lecture series 1066: The Year that Changed Everything both cover the Norman Conquest, with discussions of both the pre-Conquest institutions of Anglo-Saxon England and the post-Conquest Norman institutions. Howarth's book is a popular history, and it's pretty old (published 1981, revised 1984) and some of its historiography has been overtaken by later scholarship, so I'd read it together with Paxton and trust Paxton more where they disagree.