We have been watching I, Claudius which is a great miniseries chronicaling Rome from the time of Augustus through Nero. It is told from the point of view of Claudius who is supposed to be stupid and inconsequential and has been an embarrassment to the "royal" family. In actuality he is the smartest and most observant member of the family who eventually finds himself as Emperor of Rome.
The series is very funny, but also filled with mystery and murder and scheming and is all based on what truly happened. Check out the link for more info about this historical fiction.