"Middle ages" covers a huge amount of time; could you be more specific? Also, where?

As stated by /u/EyeStache, the middle ages is huge and "8th-16th century" does nothing to narrow it down.

To give you a general/generic answer to a vague question: At least in Western Europe, the more "noble" you and your bloodline was, the more "practical" and arranged your life+marriage was, especially if you were prime (or close to it) inheritor of a dynasty. Lowborn and common people were free to marry based on love and did so, though there was often some interaction from the family, especially for women.

To directly answer the spirit of your question - there's no evidence that "romantic love" was considered taboo or odd, but it would be found to be impractical if you were in any position of nobility. Outside of dynastic relations, that mattered much less. People married often with and against familial wishes and for self-interest. This is evidenced somewhat in the copious amount of romantic literature and plays based on love.

If your interest is captial-R Romantic love then yes, it was condemned by members of the Church on occasion (not that the armed martial elite of the High and Late Middle Ages seemed to care!). If you mean the more intimate and personal love of two individuals then no - not as long as it didn't contravene whatever particular sexual regulations the Church was imposing at that particular juncture. Unfortunately this is was the crux of Romantic love, it tended to exist outside of the bonds of marriage (this could be acceptable to both sides if it remained unconsumated).

I've written on marriage and adultery and the tension between chivalric society and ecclesiastical admonitions before and above/below I've expanded on how even a supposed argument in favour of love might be perceived as perverting the natural order. This is, of course, a rather select case study of late twelfth-century texts. The wider debate stretched across centuries and was affected by many different variables which do make a general answer impossible.

Love was a powerful driving emotion in the Middle Ages but remains one of the most difficult emotions to articulate. There are some excellent studies available on love in the Middle Ages and if you'd like a shortlist of some of them then I'd be happy to provide one.