I have heard good things about Doreen Yarwood's books, such as "European Costume: 4000 Years of Fashion". I have her Encyclopedia of Costume and I'm not such a fan of the encyclopedia format, so I think a chronological book might be better. She illustrates with line drawings, which is also not my favorite, but there is a lot of information packed into the book.
Personally my favorite costume books don't cover such wide periods so I rely on a few different ones. My favorites are:
Dressed for the Photographer: Early Americans and Fashion, 1840-1900, absolutely stellar detail on 19th century dress; I have a LOT of books of Victorian photography with a fashion focus, but this one is my favorite.
Fashion: The Collection of the Kyoto Fashion Institute, photography of real clothing from the 18th-20th century, mostly what the rich would have worn, but it gives a nice idea of silhouettes and colors.
A History of Costume by Carl Kohler is a useful supplementary resource, with some photographs of very OLD extant clothing, supplemented by line drawings and (inaccurate) patterns, it goes back to ancient times but mainly covers late Medieval to 19th century Europe, cutting off in 1870 (the book was originally published not long after in German and then was sort of rewritten in the 1920s).
I also have some for worldwide and folk dress, but that doesn't sound like your focus here.
I have a lot of fashion books and have yet to find one that does it ALL for me...