- To Engineer Is Human: The Role of Failure in Successful Design (1985) 
- Design Paradigms: Case Histories of Error and Judgment in Engineering (1994) 
- Engineers of Dreams: Great Bridge Builders and The Spanning of America (1995) 
He also wrote a salient op-ed after the 2007 bridge failure in Minneapolis: Learning from bridge failure. 
As a Data/SWE guy, I still enjoyed reading it a lot.
Previously, I've read his book Design Paradigms: Case Histories of Error and Judgment in Engineering:
I can't speak on the former yet, but the latter is excellent, and provides a framework for analyzing failures in engineering judgment (regardless of whether you're talking about bridges or software). I've also been working through The Little Schemer.
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