HISTORICAL FICTION AND FANTASY

• Son of Charlemagne by Barbara Willard (middle grade novel; historical fiction)
• Black Horses for the King by Anne McCaffrey (YA novel; Arthurian legend--how "Lord Artos" got horses strong enough to carry knights in full regalia)
• Otto of the Silver Hand by Howard Pyle
• What Happened in Hamelin by Gloria Skurzynski (middle-grade novel; Pied Piper)
• The Minstrel in the Tower by Gloria Skurzynski (chapter book; brother & sister on perilous quest)
• The Door in the Wall by Marguerite de Angeli (middle grade novel; knighthood, woodcarving; battle)
• The Great and Terrible Quest by Margaret Lovett
• The Apple and the Arrow by Mary & Conrad Buff (William Tell)
• Adam of the Road by Elizabeth Janet Gray
• Ivanhoe by Sir Walter Scott
• Knight's Castle by Edward Eager (set in 20th century, but the children wind up inside the Ivanhoe story, sort of)
• A Proud Taste for Scarlet and Miniver by E.L. Konigsburg (middle-grade novel about Eleanor of Aquitaine, mother of King Richard the Lion Heart and King John)
• Catherine Called Birdy by Karen Cushman

CLASSICAL MEDIEVAL STORIES including Arthurian tales

• Medieval Romances edited by Roger Sherman Loomis & Laura Hibbard Loomis (Perceval, Tristan & Isolt, Sir Gawain & the Green Knight, etc)
• Favorite Medieval Tales by Mary Pope Osborne, illustrated by Troy Howell (Finn Maccoul, Beowulf, Arthur, Song of Roland, Sir Gawain & the Green Knight; Robin Hood, Chanticleer)
• The Story of King Arthur and His Knights by Howard Pyle
• The Sword in the Stone by T.H. White (Arthur)
• The Acts of King Arthur and His Noble Knights by John Steinbeck (based on the Malory)
• The Story of King Arthur by Tom Crawford (Dover Children's Classics)
• The Canterbury Tales by Chaucer (of course!!)

NONFICTION

• The Story of the World, Vol. 2: The Middle Ages by Susan Wise Bauer
• How the Irish Saved Civilization by Thomas Cahill
• Living Long Ago (Usborne Books, lots of pictures: clothes, customs, housing)
• Famous Men of the Middle Ages by John H. Haaren & A. B. Poland (Attila the Hun, Barbarossa, Clovis, Justinian, etc)
• A Medieval Feast by Aliki (picture book)
• The Life of King Alfred by Asser, Bishop of Sherborne (written in Latin around 888AD, translated by J.A. Giles)

FACT-BASED NONFICTION but with element of legend or considerable fictionalization

• Our Island Story
• The Sailor Who Captured the Sea by Deborah Nourse Latimore (picture book: Book of Kells; illuminated manuscripts; monasteries; Vikings attack Ireland) (This maybe belongs just under fiction?)

SAINT STORIES

• Around the Year: Once Upon a Time Saints by Ethel Pochocki
• Our Island Saints by Amy Steedman
• Patrick, Saint of Ireland by Tomie de Paola (picture book; early middle ages)
• Tomie de Paola also did picture books about St Francis and Sts Benedict & Scholastica, but I couldn't find those today)
• Brigid's Cloak by Bryce Milligan, illustrated by Helen Cann

FOLK AND FAIRY TALES WITH A MEDIEVAL FLAVOR

• Saint George and the Dragon by Margaret Hodges, illustrated by Trina Schart Hyman (picture book; although St George predates the middle ages, the dragon legend comes from Spenser's The Faerie Queen [1590] and is based on medieval writings--the Arthurian stories of Geoffrey of Monmouth [1136]; Hyman's illustrations have borders reminiscent of illuminated manuscripts)
• Chanticleer and the Fox by Barbara Cooney, based on the story from The Canterbury Tales
• Heckedy Peg by Don & Audrey Wood (picture book; fairy tale; setting is a medieval village)
• The Irish Cinder Lad by Shirley Climo, illustrated by Loretta Krupinski (picture book; Irish fairy tale; dragon, castle, princess)
• The Three Sorrowful Tales of Erin by F.M. Pilkington (Irish fairy tales; Children of Lir)
• The King of Ireland's Son by Padraic Colum (novel-length Irish folk tale)

OTHER WORKS OF NOTE:

• Twain's bio of St. Joan of Arc
• Heaney's translation of Beowulf
• Dante's Divine Comedy
• Stories about Robin Hood (we have several versions but I couldn't find them)