If you are staying in Puerto del Carmen, this book is a great guide: The Camel Guide to Puerto del Carmen and Tias
We also have plenty of other guides and maps in our Lanzarote Information shop
Below are the street maps for each Lanzarote resort (Puerto del Carmen, Costa Teguise & Playa Blanca), the capital Arrecife and the island of Lanzarote. The maps are the same as the ones available from the Lanzarote Tourist Information offices, just click to download the files attached at the bottom of the post and comments to download your copy.
Puerto del Carmen
Simply download the Lanzarote maps from the attachment that you want. The maps are in pdf format so you can open them in Adobe Reader and zoom in for more detail or print them off.