Arthurian Games: Everyone's already mentioned Pendragon. it's got a great timeline to steal.
Scott Malthouse's Romance of the Perilous Land has a similar, but earlier set, timeline, and a ruleset that looks hybrid of Dragon Warriors and D20.
I, Mordred. Hard to find, but an excellent adaptation of Arthuran to D20; add Noble Knights and Noble Steeds, and you get a decent Arthurian D20 (D&D 3.x) experience.
Chivalry and Sorcery, Wilf Blackhaus. (several publishers). It's grounded in arthurian, but is more properly medieval.