Not in a bed, and not in unsanitary quarters.
Medieval servants usually slept where they worked. The kitchen crew slept in the kitchen, the pantler in the pantry, the butler in the buttery, the stable hands in the stable, and so on. Not even household knights had separate quarters--they slept in the hall that was used to hold court in the daytime and to serve meals at mealtime.
Only the very rich people had beds.
with the horses
A medieval knight in the middle ages or medieval times was William the conquerer
The cook would sleep in the Great Hall with everyone else
In medieval times the chain went like this. God The King (God's Representative on Earth) Royalty (The kings family) Nobles Knights Middle class/Specialty workers (Blacksmith, etc.) Landless laborers (Farmers) Slaves
A person who lived in medieval times.