Many maps are available from the Massachusetts State Archives. The Family History Library has:
Massachusetts, Harbor and Land Commission. Massachusetts Town Boundary Atlases, 1898–1916. Salt Lake City, Utah: Genealogical Society of Utah, 1974. (Family History Library film 954154-56.)
United States, Geographical Survey. Topographic Maps of Massachusetts, Rhode Island and Connecticut. Washington, DC: United States Geological Survey, 1950, 1964–1965. (Family History Library map 974 E7uss.) It has topographical survey maps showing home sites, roads, lakes and streams, churches, cemeteries, etc.
Ward Maps of the United States Cities. Washington, DC: Library of Congress, [1975?]. (Family History Library fiche 6016577–6016590.) It has city ward maps for Boston for 1800–1896.
United States Census Bureau State and County Map. This map will allow you to zoom in on any state or county in the United States and read the names of all of the neighboring counties.
The Norman B Leventhal Map Center at the Boston Public Library has 200,000 historic maps and 5,000 atlases documenting the evolution. The geographical focus of these maps, atlases, and globes is the World, Europe, and America, with particular attention to New England, Massachusetts, and Boston from the 15th century to the present day.