Zygmund and Wheeden's Measure and Integral is quite nice, and compact. We used in at the University of Alberta for our 4th year analysis sequence (a full year course). It does assume the students coming into the course are fairly mature in how they think about mathematical formalism. Probably not the right textbook for a group of students coming out of a purely "service" calculus sequence.
On the other end, Hubbard's Vector Calculus, Linear Algebra, and Differential Forms: A Unified Approach is sort of like a souped-up service-calculus course that's bordering on being analysis. You don't go so far as measure theory, but you do calculus so well some people might consider it to be a baby analysis course.