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I like Eyewitness Travel Guides by DK. They have a Mallorca, Menorca & Ibiza book.

I find "Menorca Berlitz Pocket Guide" to be a good option, is pretty extensive, has very usefull information and is not expensive. One good place to start looking for interesting places in Menorca is http://www.travelmenorca.co.uk/guide/index.htm, it's not very extensive, it only give short descriptions, but is a good start point. Some interesting things ...

Out of interest, there may not be a Lonely Planet book for Menorca, but their website contains a write-up for it: Introducing Menorca - Menorca Travel Information and Travel Guide - Spain - Lonely Planet.