This is an excellent book for those just starting out with drawing and also intermediate level students. There is good basic information on how to use pencils, as well as creating value and textures. There are exercises design to help you incorporate perspective in your drawings, including drawing cubes, cylinders and conical objects.
Pencil Drawing Techniques [...]

“This book is about drawing; about the experience of drawing and seeing drawings; and about the possibilities of extending our traditional concepts concerning the parameters of drawing”, R. Kaupelis
Experimental Drawing by Robert Kaupelis is a very good text on the infinite varieties of drawing. Written by a college art professor, it is intended for beginning [...]

Discovering Drawing, by Ted Rose and Sallye Mahan-Cox
This is an excellent textbook that offers a tradition approach to teaching drawing. Discovering Drawing starts by defining what drawing is. It covers the elements and principles of design, basic drawing techniques and includes information on different subject matter, including a chapter on expressive drawing. Art history, how [...]