There's the Hidden History of Egypt and Rome which tell about the lives of common people rather than kings and emperors.
There's the Ancient Inventions that made me feel we are hardly more civilized than our ancient ancestors. Maybe even less.
There was the Terry Jones' Barbarians which shows that Vandals weren't vandalic at all and Romans were perhaps a lot more barbaric than all the barbarians.
And finally there's Terry Jones' Medieval Lives which states peasants weren't quite as poor as we think, abbots had brothels went to war, damsels could easily abduct lads, knights in shining armour were mere cut-throats and Richard The Lion Heart was a bloodthirsty tyrant who despised England.
And here I thought the Middle Ages couldn't get any more depressing. For that reason I decided to skip the Crusaes series. There are several more but I haven't been able to locate them yet.
But anyway, all of the films were really interesting.