Squire Terence and the Maiden's Knight by Gerald Morris
Growing up an orphan in an isolated cottage in the woods, young Terence never expected much adventure. But when he meets Gawain, his life takes a surprising turn. Gawain is destined to become one of the most famous knights of the Round Table. Terence becomes Gawain's squire and leaves his secluded life for one of adventure in King Arthur's court. In no time Terence is plunged into the exciting world of kings, wizards, knights, wars, magic spells, dwarfs, damsels-in-distress, and enchanters. As he adjusts to his new life, he proves to be not only an able squire but also a keen observer of the absurdities around him. His duties take him on a quest with Gawain and on a journey of his own, to solve the mystery of his parentage. Filled with rapier-sharp wit and jousting jocularity, this is King Arthur's court as never before experienced.