"Knight William and the Shepherd's Daughter" is Child ballad #110. It is also found in the Roxburghe Ballads and Percy's Reliques. Sharp collected at least four versions of this. In some versions the shepherdess turns out to be an heiress and the knight is poor.
Sabine Baring-Gould collected a version written in 1785 and notated another version she personally found in Lewdown, Devon in 1887. Frank Kidson collected a version sung by a Benjamin Holgate of Leeds, West Yorkshire in 1891. Percy Grainger collected and notated a version in 1906 performed by William Roberts of Burringham, Lincolnshire and another by Joseph Leaning of Brigg, Lincolnshire in 1908. It was printed in William Chappell's Popular Music of the Olden Time (1859). It was recorded by Steeleye Span on Below the Salt as "Royal Forester" (1972), Ewan MacColl, Peggy Seeger on The Long Harvest record 4 and The Young Tradition on So Cheerfully Round (1966).
I learned it from the recordings by Steel Eye Span and The Young Tradition.