These notes are the content of an introductory course on modern, coordinate-free differential geometry which is taken by the first-year theoretical physics PhD students, or by students attending the one-year MSc course “Fundamental Fields and Forces” at Imperial College. The book is concerned entirely with mathematics proper, although the emphasis and detailed topics have been chosen with an eye to the way in which differential geometry is applied these days to modern theoretical physics. This includes not only the traditional area of general relativity but also the theory of Yang-Mills...