This introductory textbook is designed for a one-semester course on queueing theory that does not require a course in stochastic processes as a prerequisite. By integrating the necessary background on stochastic processes with the analysis of models, this book provides a foundational introduction to the modeling and analysis of queueing systems for a broad interdisciplinary audience of students. Containing exercises and examples, this volume may be used as a textbook by first-year graduate and upper-level undergraduate students. The work may also be useful as a self-study reference for applications and further research.