Personally, I think your best bet is to watch a ton of movies. Study them shot by shot and see how one shot leads to another. Note the angles and camera moves, if any. See how shots build up into scenes and scenes add up into sequences. Note transitions and cuts.
Search youtube for "animatic" and see numerous examples of how a storyboard can be brought to life to show exact timing and how the visuals relate to sound.
Unless you're looking for some guidelines on specific formats, I think that would be your best bet. There is no one standard way to do a storyboard. Everyone has their own style. You probably want to get familiar with basic ways to annotate your drawings to show things like zooms, pans, character movement, etc. But a google search will show many examples that illustrate how different artists illustrate those things.
All that being said, here's one that might be of help:
I watch lots of movies, just like grecodan suggests. The only thing a book will teach you is the terminology. The main thing is if you are doing the storyboard for yourself only is that you understand them!
@Mister Warren & @John: Thanks for the good tip, this PDF is fun to read and very clear on storyboarding but also has some useful tips about how to make a good shot.
One of my favourite storyboarding books is Prepare to Board by Nancy Beiman. I did a short video review a few years back, hope it helps.
@StopmoNick: Thanks, I bought it.
@Jason: Thanks, I will buy it after its release in the UK in October.
This book is awesome. It doesn't exactly explain storyboarding, but it's the best storyboarding ever.
Aye if youve ran out of movies to watch check out my youtube chanel Bricksand8balls.
My vidoes most of them are comedies they are brickfilms and check them out.
I also own this one, haven't had the chance to read it as yet