Historic Towns Atlas : Cambridge Published 1975 by the Historic Towns Trust (HTT), written by M.D. Lobel [hard copy in CUL Map Room Atlas.4.08.2 but also viewable/downloadable online]. Also, published in 2023, is an updated HTT map of Cambridge 

Plans in the Cambridge Digital Library showing Cambridge at different dates:

• Richard Lyne, 1574 (first complete plan of the city)
• Braun & Hogenberg, 1575 
• Valesio, 1595? 
• John Speed 1611/1612 
• Thomas Fuller, 1634 
• Wenceslaus Hollar ?, 1640 
• David Loggan, 1688 AND David Loggan / Henry Overton, ca. 1715 
• Pieter van der Aa, ca. 1720 
• Thurlbourn 1763 (included in an early guide book to Cambridge, Cantabrigia Depicta)
• 1791 
• William Custance, 1798 (before the great changes that affected the city during the early part of the 19th century)

Cambridge Digital Library also includes many manuscript maps of Cambridge

Cambridge Antiquarian Society online Archive of Historical Maps of Cambridgeshire which includes images of maps of the county and of Cambridge

In particular:

• Richard Baker, Cambridgeshire. 1821
• Metcalfe and Richardson, 8 miles round University of Cambridge, 1827
• Watford and Richardson, 25 miles round Cambridge, 1828

Cambridge University Library Map Department 'Local Interest' Links page

Cartophilia. High and medium resolution images of English and Welsh  maps from their beginnings to the early 20th Century. Search by county

A useful publication is the new (2020) edition of Cambridge 1574-1904 : a portfolio of twelve maps illustrating the changing plan of Cambridge from the sixteenth to the early twentieth century edited by Elizabeth Stazicker. This includes black and white facsimiles of maps of Cambridge plus a booklet describing the maps and the development of Cambridge. You can purchase a copy from the Cambridgeshire Records Society 

Look also at the resources listed elsewhere on this page and on the Ordnance Survey tab of this LibGuide

Cambridge sheet (1808 ; OSD 235) of the Ordnance Surveyors’ Drawings (manuscript maps from which the earliest 1:63,360 (1” to 1 mile maps) maps were derived). Images of all other Ordnance Surveyors' Drawings can be viewed online, including the sheet to the north of Cambridge, including Ely sheet (1811 ; OSD 251). 

Victoria County History. Volumes II to X (excluding VII) of the Cambridgeshire volumes are available online

Cambridge University Library Map Department 'Local Interest' Links page

Richard Relhan’s topographical drawings (date range 1797-1838).

• Direct link to the Relhan collection on Cambridge Digital Library 
• 'Richard Relhan Revealed' blog post 
• 'Drawing Cambridgeshire' news story