Many maps are available from the Massachusetts State Archives. The Family History Library has:
Atlases with Massachusetts maps for the years 1790, 1810, 1823, 1838, 1857, 1862, 1878, 1884, and 1917 (Family History Library film 002083.) These maps appear on many items on this film.
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.
Early maps of towns, roads and counties http://www.maphistory.info/imageus.html
Perry Castaneda Collection: http://www.lib.utexas.edu/maps/massachusetts.html
Historic USGS maps of New England and NY http://geography.about.com/gi/dynamic/offsite.htm?zi=1/XJ/Ya&sdn=geography&cdn=education&tm=246&gps=77_10_1020_573&f=00&tt=14&bt=0&bts=0&zu=http%3A//docs.unh.edu/nhtopos/nhtopos.htm
Printable maps are also available from the National Atlas of the United States -- http://nationalatlas.gov/printable.html