Suppose you move a distance $x$ East then a distance $y$ North. How far have you moved?
Well, we all learned this at school, and the answer is that on a flat plane the answer is given by Pythagoras' theorem:
$$ s^2 = x^2 + y^2 $$
And this extends to three dimensions, so if we move a distance $z$ up we get:
$$ s^2 = x^2 + y^2 + z^2 $$
This quantity $s$ is just the magnitude of the vector $(x, y, z)$. But now suppose I'm using a different coordinate system to you. For example my $x$, $y$ and $z$ axes may be displaced or rotated relative to yours. In that case when I write down the vector for your movement in my coordinates $(x', y', z')$ it will look different to your representation - my $x'$ won't equal your $x$ and likewise for $y$ and $z$. But when I calculate the magnitude of the vector $(x', y', z')$ in my coordinates I'm going to get the same length $s$ that you get when you calculate the length in your coordinates. This has to be the case, because the vector hasn't changed. Changing the coordinates doesn't change the length of the vector. So, and this is the key bit:
the magnitude $s$ is an invariant of the geometry and all observers will calculate the same value for it
This might seem obvious, but it isn't. The equation for $s$ is called the metric and it defines the geometry of the surface. We generally write it in differential form. If the metric is:
$$ ds^2 = dx^2 + dy^2 + dz^2 $$
then this defines the flat Euclidean 3D space. Compare this to the metric for the surface of a sphere (polar coordinates this time):
$$ ds^2 = r^2d\theta^2 + r^2 \sin^2\theta d\phi^2 $$
This metric defines the geometry of a spherical surface.
By now you're probably wondering what this is all about. Well in special relativity we deal with a flat 4D spacetime $(t, x, y, z)$. So what is the metric for this geometry. The obvious guess would be to simply extend Pythagoras' theorem yo 4D:
$$ ds^2 = dt^2 + dx^2 + dy^2 + dz^2 $$
but this would be wrong. Experiment tells us that this isn't how the universe works. What we find is that the metric is actually:
$$ ds^2 = -c^2 dt^2 + dx^2 + dy^2 + dz^2 $$
This is called the Minkowski metric. Note two things:
the $dt$ term has a minus sign
we multiply $dt$ by a constant with the dimensions of a velocity, $c$, to convert it to a length
The minus sign for $dt$ is the key difference, and all the weird stuff like time dilation and length contraction originate from this minus sign. For example see How do I derive the Lorentz contraction from the invariant interval?
I must emphasise that we didn't choose the minus sign for the $dt$ term in the metric. That's the way the geometry of the universe is and we were forced to use a minus sign to correctly describe physics.
Anyhow, you started out asking about the Lorentz transformations, and the Lorentz transformations are simply the linear transformations that keep the value of $ds$ constant. So I don't think the best way to understand it is to start with the Lorentz transformations. Given that the geometry of 4D spacetime is described by the Minkowski metric the Lorentz transformations follow automatically.