>>586247>>586247>>586247While the plot does certainly have fantasy stuff in it, Maria the Virgin is likely as close are you're going to get. It takes place during The Hundred Years War in France and does have it's share of scenes actually showing the fighting. All my HEMA nerd friends love it since it's fairly authentic. Your medieval historical stuff in anime is usually set in Japan or China with Medieval europe generally reserved for fantasy.
If you wouldn't mind something set in the French Revolution instead of medieval-era I'd highly recommend The Rose of Versailles since it's a classic.