"From Egyptian wall paintings to the Venetian Renaissance, impressionism to digital images, Philip Ball tells the fascinating story of how art, chemistry, and technology have interacted throughout the ages to render the gorgeous hues we admire on our walls and in our museums."

Bright Earth: Art and the Invention of Color Paperback – Illustrated, April 15, 2003 https://www.amazon.com/Bright-Earth-Art-Invention-Color/dp/0...

https://www.philipball.co.uk/

Try "Bright Earth: Art and the Invention of Colour" by Phillip Ball. [0]. If you're just interested in the colour blue there's also "Blue: The History of a Color" by Michel Pastoureau [1]. The Pastoureau book is more of an overview of art history than a discussion of the history underlying the discovery of the pigment itself.

[0] https://www.amazon.com/Bright-Earth-Art-Invention-Color/dp/0...

[1] https://www.amazon.com/Blue-History-Color-Michel-Pastoureau/...