There is no one true way to learn AJAX development. The best way to get started is, well, just to get started. The absolute minimum you need to know is,
- Basic JavaScript, with an emphasis on JS scoping rules and the UI thread
First bookmark https://developer.mozilla.org/en/JavaScript/Reference
The 'A' in AJAX stands for Asynchronous, which means that you have to learn how to write callback functions (which are all closures). The scoping of JS closures can be tricky if you haven't worked with them before. Read http://javascript.crockford.com/code.html on 'Function declarations' to get started and read up on situations on stackoverflow.com after that.
Read up on Function#apply and Function#call,
https://developer.mozilla.org/en/JavaScript/Reference/Global_Objects/Function/apply
https://developer.mozilla.org/en/JavaScript/Reference/Global_Objects/Function/call
- Learn the basics of the DOM and CSS
The DOM is just a big tree of nodes with properties. In combination with CSS this gives you the visual page that you see in the browser. Using JS you can add visual effects and create/remove new node structures on the fly. See http://books.mozdev.org/html/mozilla-chp-5-sect-2.html
Events are how people interact with your page/application. Most frameworks provide helper/lib calls for handling this, but using them is pretty pointless if you don't understand the underlying behavior. http://www.quirksmode.org/js/events_properties.html
JavaScript is one of these 'building block' languages where the standard library provides only the basics. For example, there are no namespaces, but there are several ways in which you can usefully fake them. Every framework does it differently. Get a grip on the basics without using a framework before you commit to a specific framework for a project.
There's a lot more to learn, but this should get you started. If you want a depressingly long list of skills you need to master, try this SO question,
http://stackoverflow.com/questions/72394/what-should-a-developer-know-before-building-a-public-web-site
The most important thing is just to get started. Build some trivial hobby project and you'll find the most important things you need to learn fast enough.