I have recently reread a few books about medieval England that I found when researching Catherine Called Birdy. They were written long before most of you—or even your parents—were born and are fairly short, simple, and, I think, best suited for younger readers or for those wanting just a taste of medieval England.
Adam of the Road, Elizabeth Janet Gray, 1942. Eleven-year-old Adam travels through thirteenth-century England with his father, a wandering minstrel, and his dog, Nick. But when Nick is stolen and his father disappears, Adam suddenly finds himself alone. A Newbery Medal winner.
The Innocent Wayfaring, Marchette Chute, 1943. A young girl of noble family runs away from a convent where she is being prepared for marriage or the veil and shares her travels with a boy who rejects a trade for the freedom of the highways.
The Door in the Wall, Marguerite De Angeli, 1949. In the Middle Ages a young boy crippled by the plague has an adventurous journey from London to a castle where he becomes a page, proves his courage, and earns recognition from the King. A Newbery Medal winner.
The Maude Reed Tale, Norah Lofts, 1972. A girl living in England in the Middle Ages wants to become a wool merchant but is sent instead to a castle to learn to be a lady.