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.