Hello Gábor,

I can recommend: "Animal Evolution. Genomes, Fossils, and Trees", edited by M.J. Telford & D.T.J. Littlewood ... published by Oxford University Press in 2009 ... ISBN 978-0-19-957030-0

Best wishes, Mike

Dear Gábor, please check following titles:

(i) Nielsen, C. (2012) Animal Evolution - Interrelationships of the Living Phyla. Third edition. Oxford University Press. 464 pp.

(ii) Minelli, A. (2008) Perspectives in Animal Phylogeny and Evolution. Oxford University  Press. 360 pp.

(iii) Desalle, R. & Schierwater, B. [Eds.] Key Transitions in Animal Evolution. CRC Press . 340pp.

(iv) Brusca, R. & Brusca, G. (2003) Invertebrates. Oxford University Press. 895 pp.

All the best.

These could be useful:

Animal Diversity, 3rd edition. Cleveland P. Hickman, Jr., Larry S. Roberts, Allan Larson

Brusca, R. & Brusca, G. (2003) Invertebrates. Oxford University Press. 895 pp.

Hello Gábor, I think this excellent book will help you :

Integrated principles of zoology / Cleveland P. Hickman, Jr. ... [et al.]. 2008 – 14th ed.

that is as pdf :

All the previous ones are very good, I just wanted to add a very recent addition:

http://www.sinauer.com/the-tree-of-life-630.html

I agree that a good and recent overview of the topics you are interested is THE TREE OF LIFE (eds Vargas and Zordoya) - 2014. http://www.sinauer.com/the-tree-of-life-630.html.

Thank you all your helpful answers, these are the books I've looked for!

If you read German, there are few books on the subject that match "Spezielle Zoologie" by Westheide and Rieger. Hardcore phylogenetic systematics, no group remained uncovered, best specialists writing on their fields of study; unfortunately, I do not know if it was/is/will be translated to English. Here's the volume 1. in German:

http://www.amazon.de/gp/product/3642346952/ref=pd_lpo_sbs_dp_ss_1?pf_rd_p=556245207&pf_rd_s=lpo-top-stripe&pf_rd_t=201&pf_rd_i=3827415756&pf_rd_m=A3JWKAKR8XB7XF&pf_rd_r=09X8TDFVMPV13ZN484WE