I just finished Hrolf Kraki's Saga by Poul Anderson.

Based on the historical saga of the same name, Anderson's version sticks pretty close to the events but adds a little bit of additional colour and character development.  The characters are still thin, in terms of emotional depth, like the original sagas, but are a little more readable for modern audiences.

The result works quite well, keeping the quick moving nature of the sagas but drawing in this modern reader.  Quite enjoyable.