You mean like coffee table books?

Otherwise, maybe /r/ArtHistory will be of more help.

Sorry, I'm not aware of a book that broad. Books like you are describing certainly exist but they tend to be fairly focused, such as on arms and armor, hunting, pageantry, portraiture, or the work of a specific artist such as Duhrer or Bruegel. This is because there is an enormous amount of extant Medieval and Renaissance art; it's simply too much for one book to cover except extremely superficially.

If you're interested in jousting, I recommend Tournaments: Jousts, Chivalry and Pageants in the Middle Ages by Richard Barber and Juliet Barker. If you're interested in arms and armor, I recommend Knights in Shining Armor: Myth and Reality 1450 - 1650 by Ida Sinkevic. There are tons of books that focus on the work of a single artist. I recommend searching on Amazon for Bruegel, Hieronymous Bosch, Paolo Uccello, Duhrer, Leonardo, Van Eyck, Titian, or Caravaggio. Those are just off the top of my head, and they are all fifteenth/sixteenth century artists, obviously there are many others.

I highly encourage you check out the Web Gallery of Art. You can set the search parameters for a specific period or form and then enjoy browsing. If a piece catches your eye then you can do further research on it yourself to better understand it and the artist and period from which it was produced. If you're interested in arms and armor, also check out Manuscript Miniatures, which is a site specifically dedicated to hosting pictures (miniatures) from manuscripts depicting arms and armor. You can search within a specific time frame or browse by tags. Again, if a piece catches your eye you can further research it to better understand it.

I know my recommendations are all at the end of your period of interest, hopefully someone else can help you with a book on earlier Medieval art.