The City and the Stars by Arthur C. Clarke is one of Clarke's best books.

The story is about a boy in the far future who has the urge to explore the world, but his world is a huge robotic city which is mostly vacant. After exploring most of the empty areas, he finds a window to the outside. This begins his search for a way out of the city and his explorations of the world outside. Along the way he discovers not only the society outside, but the history of the city and the human race in general. The book is not the fastest moving or action oriented, but his non-utopian vision makes the book worthwhile.

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