How to Create VRML 2.0. A great start-up site. Here, you can learn about VRML basics, tools as well as tutorials and resources. Siggraph'96 VRML 2.0 Tutorial. This is a slide-show tutorial which originally was a presentation to a group of people.
Some slides contain only keywords and the rest was explained during the presentation.
It is enough, however, to give you a basic understanding of what VRML is and some basic concepts about it. I found this document to be the most helpful when creating VRML worlds. I suggest that you read Background, Scope and Concepts contained in this spec. The Nodes Clause establishes all the necessary code for each node with written explanations. Other VRML tutorials.