Interactive Data Visualization in a Web Browser
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You don't need to have any prior experience with D3.js to understand this book.
The author starts with the basics and introduces new concepts at a good pace.
Pro You can read for free online
It's available completely free online.
Con Difficult format to follow online
The free only version is all the material placed on one page. It's quite a bit difficult to follow as the material is quite tightly placed and you have to scroll back to the top any time you want to refer to the table of contents.