The Sanskrit Language by Walter Harding Maurer (2002, Hardcover, Revised)

This grammar offers a completely new approach to the study of Sanskrit, aimed at students with no previous specialist knowledge of the categories of grammar. It is a stimulating and infectious approach, designed to cultivate rapid and lasting enthusiasm for Sanskrit.
Important features of the work are the use of connected passages for exercise which are intrinsically more interesting and challenging than the unrelated sentences found in other grammars; the great deal of attention given to the explanation of the Devanagari system; and the extensive appendices and glossaries in a separate volume.