Commenting on this blog post made me think that I might as well make a list of my favorite Librivox MA books.
Manners, Customs and Dress During the Middle Ages and During the Renaissance Period -- this book is a lot of fun and no, not much has changed ever since those times either(take special note of chapters 30&31...). Much more interesting than the usual laundry list of nobles and their wars and marriages!
Popular History of France from the Earliest Times The chapter on Charlemagne is fascinating! The book has 3 completed volumes, and a 4th is in the making.
There is also The History of London which starts earlier but because it's written for boys back in the day, it is quite easy listening and far more deep than a BBC production and not as preachy or patronising as well :)