Introduction to algorithms, Cormen/Leiserson/Rivest/Stein. Rigorous, detailed, thorough. Dry, technical, intimidating.
The algorithm design manual, Skiena. Friendly, informal, heuristic, insightful. Sloppy, handwavy, gappily incomplete.
They fill one another's gaps very nicely.
[EDITED to add:] I haven't read Kleinberg & Tardos, recommended above; it sounds like it may fill much the same niche as Skiena.