In the Shadow of Midnight (Robin Hood #2) by Marsha Canha
Lady Ariel de Clare was the skillful lady. She was the headstrong beauty who was determined to disobey the king himself. There is no man who can command her. She had met with the legendary warrior that has pledged to save her to Wales. There was the bastard son of the nobleman who has challenged the untamed soul. There was the dangerous plan for Princess Eleanor. There was the unspeakable evil of the John.
Published March 5th, 1994 by Dell (first published 1994)