I especially love LuaJIT, whose ffi makes it even easier to interface with C than standard Lua does (and its awesomely fast too). Nevermind that Lua is just nice to work in anyway :)
Once you get the big ideas, there's a very detailed reference online (http://www.lua.org/manual/5.1/), and the mailing list and wiki at http://lua-users.org/ also have a lot of helpful info.
Lua is transitioning from 5.1 to 5.2 right now, which introduces some changes (improvements to the GC, adding to the standard libraries, and improving the package/module system). The main language and C API haven't changed significantly from 5.1; you should be fine if you learn 5.1 now and update later. Lua is small enough that you could add 5.1 to your projects as a library dependency and maintain it yourself, though - it's only about 16,000 lines of code.