If you can find a copy, I wholeheartedly recommend John Ogilby's Britannia, Volume the First, or, An Illustration of the Kingdom of England and Dominion of Wales by a Geographical and Historical Description of the Principal Roads Thereof.

This work was published in 1675 by the Royal Cosmographer, John Ogilby, and is essentially the AA Road Atlas of its day. It's also a fascinating insight into how the 17th century conceptualised maps of journeys. The book is a series of journeys displayed as a series of 100 copperplate strips, illustrating the principal routes and the cities, towns and villages passed through along the way. Essentially, you read it like a SatNav rather than how we currently would read a map. The book covers all of the major contemporary roads in England, but at each junction also annotates where each lesser road leads.

The book itself is quite lovely. I have an issue from 1939 which has excellent reproductions of the original copperplate; I'm not sure as to whether there have been many subsequent reissues, but Britannia has been helpfully digitised here.