A lot of the titles here will be on other pages as well. The purpose of this list is specifically if you're looking to tie historical fiction (including a few more biographical titles, especially in the picture book section) in with history studies etc. (or just looking for a specific time period, of course!). Some titles will revolve around specific historical events while others are more generally exploring a certain period, cultural development, etc.
Also please note: it's probably actually the largest category, but I'm waiting to add a lot of the titles until I can review them (with all their attendant details), so this particular page will probably grow slowly.
Given ages are fluid, but most can be read aloud to younger children with parental oversight.
Picture Books
Ancient
Early Medieval
High Medieval
A Medieval Feast by Aliki
Brother Hugo and the Bear by Katy Beebe
Dick Whittington and His Cat by Marcia Brown
The Ink Garden of Brother Theophane by C.M. Millen
1400's (Later Medieval / Renaissance)
Marguerite Makes a Book by Bruce Robertson
Priceless Gifts: A Tale from Italy by Martha Hamilton & Mitch Weiss
1500's (Renaissance / Reformation / Explorers)
1600's
On the Mayflower: Voyage of the Ship's Apprentice & a Passenger Girl by Kate Waters
Samuel Eaton's Day: A Day in the Life of a Pilgrim Boy by Kate Waters
Sarah Morton's Day: A Day in the Life of a Pilgrim Girl by Kate Waters
Tapenum's Day: A Wampanoag Indian Boy in Pilgrim Times by Kate Waters
The First Tulips in Holland by Phyllis Krasilovsky
1700's
A Big Cheese for the White House by Candace Fleming
Ordinary, Extraordinary Jane Austen by Deborah Hopkinson
Young John Quincy by Cheryl Harness
1800's
A Farmer Boy Birthday adapted from Laura Ingalls Wilder
A Little Prairie House adapted from Laura Ingalls Wilder
Abbie Against the Storm by Marcia K. Vaughan
Boom Town by Sonia Levitin (2)
Christmas in the Big Woods adapted from Laura Ingalls Wilder
County Fair adapted from Laura Ingalls Wilder
Dance at Grandpa's adapted from Laura Ingalls Wilder
Emily by Michael Bedard
Going to Town adapted from Laura Ingalls Wilder
Going West adapted from Laura Ingalls Wilder
Going West by Jean Van Leeuwen
Nine for California by Sonia Levitin (1)
Ox-Cart Man by Donald Hall
Popcorn at the Palace by Emily Arnold McCully
Prairie Day adapted from Laura Ingalls Wilder
Sugar Snow adapted from Laura Ingalls Wilder
Summertime in the Big Woods adapted from Laura Ingalls Wilder
Winter Days in the Big Woods adapted from Laura Ingalls Wilder
Winter on the Farm adapted from Laura Ingalls Wilder
Yonie Wondernose by Marguerite de Angeli
1900's
A New Coat for Anna by Harriet Ziefert
Dreaming of American: An Ellis Island Story by Eve Bunting
Marven of the Great North Woods by Kathryn Lasky
Snowflake Bentley by Jacqueline Briggs Martin
The Gardener by Sarah Stewart
Time to Go by Beverly Fiday
When Jessie Came Across the Sea by Amy Hest
Age 8-ish and up
Ancients
Zet Mystery Series by Scott Peters (series overview)
Early Medieval
Beorn the Proud by Madeline Polland
Children of the Red King by Madeline Polland
High Medieval
Black Fox of Lorne by Marguerite de Angeli
The Door in the Wall by Marguerite de Angeli
1600's
Elin's Amerika by Marguerite de Angeli
1800's
By the Great Horn Spoon! by Sid Fleischman
By the Shores of Silver Lake by Laura Ingalls Wilder (5)
Farmer Boy by Laura Ingalls Wilder (3)
Little House in the Big Woods by Laura Ingalls Wilder (1)
Little House on the Prairie by Laura Ingalls Wilder (2)
Little Town on the Prairie by Laura Ingalls Wilder (7)
On the Banks of Plum Creek by Laura Ingalls Wilder (4)
The Long Winter by Laura Ingalls Wilder (6)
Thee, Hannah! by Marguerite de Angeli
1900's
Bright April by Marguerite de Angeli
Older
(generally speaking, 12-ish+, but there are gradations within this category)
Early Medieval
A Sea Queen's Sailing by Charles W. Whistler
Journey for a Princess by Margaret Leighton
The Dragon and the Raven by G.A. Henty
The Story of Rolf and the Viking Bow by Allen French
High Medieval
Men of Iron by Howard Pyle
1600's
To Have & To Hold by Mary Johnston
1800's
Downright Dencey by Caroline Dale Snedeker
Song of the Voyageur by Beverly Butler
These Happy Golden Years by Laura Ingalls Wilder (8)