Terry Jones: "The Knight and the Squire"
I'd call this: Middle Grade Medieval Misadventure. This is the first book of three, but fortunately this can very well be read as a standalone (I don't have the other two myself, sadly). The main storylines in this book are brought to a satisfactory conclusion, though new adventures are about to begin.
There is something very cosy about the narration style - even when the events described are not cosy at all.
A few quick quotes as examples:
"It was dusk by the time Tom finally found Sir John and Alan. They were both standing on the quay, deep in conversation with a man with no nose. Actually 'conversation' is rather a bland description of whatever it was they were deep in. Sir John was gesticulating and alternatively shouting at the man with no nose and pleading with him."
&
"At this moment, the dingy door of the dingy inn flew open, and there stood seven men of robust build - not one of whom would you ever dream of asking to do the babysitting."
It's not all frivolous fun, however - there are also heartfelt moments and more serious themes.
She's one of my favourite authors, though her Regency is truly as artificial as any fantasy novel, it's a brilliant place to visit.
! I just recently discovered in my storage locker a box of books that never got unpacked when we moved in to this condo. Margaret Frazer's Dame Frevisse mystery series with a medieval nun doing the detecting. Sort of a female Brother Cadfael. Since I don't remember the plots, I can start fresh to re-read them all.
), most of them I forget and can read anew quite comfortably. 
At the moment, I'm reading Ian Rankin's newest Rebus novel, Midnight and Blue. 'Tis the season for new thrillers! 