Having field tested most of the major guidebooks in a number of European countries, the ones I particularly recommend are:

Rough Guides, which are the best for the independent traveler, and much better than Lonely Planet. They often have hotel and restaurant selections for good, authentic places where you won't find a lot of tourists.

DK Eyewitness Guides, usually excellent, especially for first time trips. The ones to Vienna and Prague are particularly good. The DK guides have excellent, well indexed city maps, and offer useful selections of what the most important things to see and do are. Their "Top Ten" books, giving concise lists of attractions in various categories, are also useful. The DK guides listings of hotels and restaurants are reliable but not extensive, so they may need to be supplemented with other sources.