Of course, you can get the maps through the USGS but they aren't very convenient and I think some are out of date.
A better choice are the waterproof series of trail maps put out by Trails Illustrated:
They also have smaller maps that cover each quarter of the park. I do not have the ISBN Numbers for these maps. I prefer these smaller maps for hiking. You can get the maps at the visitor centers in the park. Their titles are:
If you plan to stay on the trails and not go too far into the backcountry then you can get by with Mark C. Marschall's book, Yellowstone Trails: A Hiking Guide. Besides being my favorite Yellowstone trail guide, it also contains decent topographic maps of the trails.
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