I found Tennyson's Idylls of the King to be very readable. Tennyson has a very clear verse that is both eloquent and easy to follow. He writes several stories from the Arthurian canon. My personal favorite is "Gareth and Lynette." It's an unconventional adventure story, and it's one of the few times that the women in Camelot are shown taking action. And, as proven in "Lancelot an Elaine," Tennyson manages to bring sympathy to some unlikeable Camelot characters. This version also includes poetry outside of Camelot lore. "The Lady of Shalot" is probably his more famous poem, but "The Kraken" is also really interesting.