Here's one I've been reviewing for use in my Physical Geology course for non-geoscientists, and I found it very nice. Easily readable, especially for a layperson, and very comprehensive. It's more about the evolution of the biosphere rather than the study of paleontology, per se, but there's a lot of that in there as well.
An Introduction to the Earth-Life System, Charles Cockell, ISBN 978-0521729536, available in paperback.