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U-Boats: The Illustrated History of the Raiders of the Deepby David Miller
Miller has written an excellent general history, with a lot of technical detail on the construction and design of German submarines and submarine weapons. Illustrated with photographs and diagrams. The book includes an interesting section on proposed designs that were either never built, or were not completed in time to see service.
Neither Sharks Nor Wolves: The Men of Nazi Germany's U-Boat Armby Timothy Mulligan
U-Boat Adventures: First Hand Accounts from World War IIby Melanie Wiggins
U-Boats in Camera 1939-1945by Jak P. Mallman Showell
Count Not the Dead: The Popular Image of the German Submarineby Michael L Hadley
Torpedo Junctionby Homer H. Hickam, Jr.
Hitler's U-Boat War: The Hunters, 1939-1942 (vol. 1)by Clay Blair, Jr.
Hitler's U-Boat War: The Hunted, 1942-1945 (vol. 2)by Clay Blair, Jr.
Iron Coffins: A Personal Account of the German U-Boat Battles of World War IIby Herbert A. Werner
Werner spent much of World War II in U-boats, the last couple of years in command of various boats. One thing that becomes clear in this memoir is that luck, as much as skill, was the most important characteristic for any commander. Most of the surviving commanders were either captured, or moved to shore jobs fairly early in the war. Werner spent most of his time at sea, and clearly wonders just how he managed to live to tell about it.
U-Boat Commander's Handbookby High Command of the [German] Navy
This is a reprint of a translation made by Naval Intelligence, augmented with photographs, mostly of U-505. Primarily a tactical manual, the original writers obviously presumed anyone reading it would already possess all the technical knowledge required. A good book if you want to get an idea of how the German U-boat Command thought a war at sea should be fought.