I found a nice book in a used bookshop, The archaeology of medieval England and Wales

It takes the themes of government, religion and the countryside and the impact on architectural design.

It contains a nice number of images including grounds plans for various palaces, churches and even a couple inns (though by no means a picture book, there is far more writing than images).

A nice example of how it deals with things is the plans for the palace of westminster where the different structures are coded so one can see how the site developed over time from the 12th through 16th centuries.

-Rob A>