I enjoyed The Story of Greece and The Story of Rome by Mary MacGregor as our spines, adding in a few other books to round out specific people or events, including Famous Men of Greece and Rome as they came up in the spine. I am using them for my 13 and 14 yo who like them pretty well. We have learned a lot.
I have just started to read and get into the Middle Ages, so while I am reading some of those, I haven’t picked my favorite yet. =)