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.
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the king will sleep in the castle the knights will sleep in the little castle the king gave to them and the barons will sleep in the little castle the king gave to then lastly if the peasants agreed to give food for the knights barons and king the king would give the peasants a little house for them to stay in they sleep on the dirt.
Well, if they lived in the castle, they surely did not slept in the solar. They were most likely to have their own room, but it's located on the bottom floor, and it was not cleaned, and they surely didn't get treated very well.
The houses peasants had often had one large room with a high roof and no separate ceiling. They would have slept in this room. The fire for heating, if they had one going, would have been in the middle of the room, with the smoke going out through a vent hole in the roof or high on the walls, and this meant the room was usually cold in the winter, with a place by the fire very important. So we can guess that the places they slept were close to the middle of the room.
In the early times, people slept on piled up leaves, moss, or similar soft materials, covered with skins. The soft materials might have been gathered into a sort of low chest. Later on, mattresses of a sort were developed out of this, and these could include feathers, straw, and hair in the mix. The bed was covered with skins, and I would imagine peasants would have used sheep skins with some wool on, sewn together, for this.
In there own private chambers inside of the church where they performed their duties.
Some of the medieval maids lived in the castles and properties of the nobility. There are others that lived at home on the nobles land and came to work daily.
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.