Jeff has given you the manufacturing sequence of the 3 models. As far as telling them apart without looking at the serial numbers, it is hard to do so from the outside, ie just from the body if it has been painted. However, there were lots of changes made between Mk I and II and between Mk II and III.
I dont have a Mk I so others will chime in as far as differences with the Mk II. As an example though, the inside of the doors is different with the Mk I. Also, as Jeff mentioned, the Mk I had no backbone down the center in the cockpit where the tranny is formed, although the aluminum pretty much bolted up the same way and hides this.
The Mk III changes were substantial. Most of the changes were done to widen the engine bay to allow room to fit the 4.6 modular motor which is much wider than the 5 litre. The footboxes are different, and the steering shaft exits the front of the footbox rather than the side. I believe the Mk III also has some frame stiffening done. Also, the rear part of the frame and body is different on the Mk III, allowing 315 size tires without modification to the frame. The bodies themselves are different, they come in a black gel-coat and supposedly require much less work to prep than the Mk II. The hood is different too, it has an integral hood hoop built into the inside and is much sturdier.
I'll leave it to others to point out other changes but that's a start for now.
HTH
Tom