Princess of Thieves (2001) on Netflix

Plot summary

King Richard the Lionheart is dead, and Robin of Locksley returns from the Crusades to see that the right man takes the throne of England. The Sheriff of Nottingham and Prince John capture and imprison him. Robin's daughter Gwyn has grown up alone since the death of Marian, with her father's gift for archery, and her only friend is Froderick, who is studying to be a churchman. Robin had forbidden Gwyn to join his fight, so she disguises herself as a boy and takes up his mission: to find and protect King Richard's son Philip, who has come from exile in France traveling under the name of his dead valet. Gwyn meets him without knowing who he is, and a spark grows between them as they set out to find the Merry Men and free her father.