I would recommend Continuous Symmetry : From Euclid to Klein by Barker and Howe. I took the course as an undergraduate and enjoyed it very much. The first chapter gives an axiomatic treatment of geometry, and is meant to be a short part of the course. The rest of the book is a transformational approach to geometry, introducing isometries and similarities. Felix Klein's Erlanger Programm is the guiding principle for the course.