The Times Atlas of World History. Ed. by Geoffrey Barraclough. 1990 Gilbert, Martin. The Illustrated Atlas of Jewish Civilization. Vol 2 covers the Middle Ages.
Emphasis is on European and German history.
Atlas of the Crusades. 1983 Martin Greenwald Associates. Historical Maps on File. 1983. These outline maps are useful when you wish to fill in your own notations. R.L. Chronology of the Medieval World, 800-1491. 1973.