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I think you are spoilt for choice on this, but it does depend on the style and level of game your looking for.
For a skirmish style of game then as @templar007 has said, Saga for me is the best choice.
If your looking for an army level recreating the battle, then Hail Caesar from Warlord Games and the latest supplement for the dark ages is very good.
Another good set of rules for an army level which is very enjoyable is To the Strongest. This uses playing cards instead of dice and also uses a grid for movement. I was sceptical about these things until I played it and I found it good fun.
There are many others out there, Sword Point, DBM, Sword & Spear, Clash of Empires and many more.