I bought a car online and the seller lied about the car. Can I sue?

I bought a car from someone off of craigslist. I met them in a grocery store parking lot because I couldn't find thier house. I test drove the car and gave them my money. I was told that the car was a one owner and didn't have any problems. After the purchase I have come to find out that they totally lied about the car. When I bought it they were nice enough to already have the title signed and notarized so I told them that I didn't need to go to the dmv, that I would just wait untill my next day off. I should have drove it to the dmv that day. I still have a copy of the interenet ad that they posted and a phone number. Can I sue them or the notary that is on the title? If a lawsuit dosn't work can I bring criminal charges?