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I, Claudius by Robert Graves is fascinating and very readable. One of the greatest examples of historical fiction. All of the major events of the book are historically accurate, and Graves just brings them to life with dialog and his knowledge of daily life in Rome. The sequel Claudius the God, is good, but honestly covers a less interesting period in Roman history.

Historically accurate-ish; she’s clear in her author’s notes that she created some characters to fill gaps. Would second the recommendation, though. The major events are generally real enough, and it’s a compelling way to read about it.

I strongly second this recommendation! These books are incredibly detailed and fun to read.

Another comment mentioned I, Claudius, which is also excellent.