I recommend Geometry: A Metric Approach with Models by Richard Millman and George Parker. I have used it as a textbook in the past and liked it.
Addendum. A little bit about this book, in response to one of the comments: It offers an axiomatic and rigorous development of classical and non-Euclidean geometries. The axiomatic approach is very effective and well-explained, in my opinion. Here is a quote from the beginning of the text:
In the early development of geometry the point of view was that an axiom was a statement that described the true state of the universe. Axioms were thought of as "basic truths". Such axioms should be "self-evident". Of the basic axioms stated by Euclid in his Elements, all but one was accepted by the mathematical community as "true" and self-evident. However, his fifth axiom, which dealt with parallel lines, was not as well received. While everyone agreed it was true (whatever that meant) it was by no means obvious. For over two thousand years mathematicians tried to show that the fifth axiom was a theorem which could be proved on the basis of the remaining axioms. As we shall see, such efforts were doomed to fail. The modern view is that an axiom is a statement of a useful property. When we assume an axiom holds, usually in a definition, we are saying that we want to discuss those objects which possess this special property. We are making no statement as to whether the axiom is a statement about the real world. Rather, we are saying "accept the following as a hypothesis."
As the title suggests, the book takes the metric approach to developing and studying geometry. This approach is due to George Birkhoff. In this approach, the concept of distance (or a metric) and angle measurement is added to that of an incidence geometry to obtain basic ideas of betweenness, line segments and congruence. Another possible approach to geometry (not treated in this book) is Davis Hilbert's synthetic approach.
The book works with a few models such as the Cartesian Plane, The Poincare Upper Half Plane and The Taxicab Plane. When a new axiom is introduced, it is shown which models do (or do not) satisfy that axiom. The authors say in the Preface:
We hope that through an intimate acquaintance with examples (and a model is just an example), the reader will obtain a real feeling and intuition for non-Euclidean (and in particular, hyperbolic) geometry. From a pedagogical viewpoint this approach has the advantage of reducing the reader's tendency to reason from a picture. In addition, our students have found the strange new world of the non-Euclidean geometries both interesting and exciting.
I can confirm the last statement about students finding the strange new world of the non-Euclidean geometries both interesting and exciting. The text also has an adequate number of exercises at the end of each section.