Since naval invasions have been used for practically as long as ships have been invented the general concept of landing on a beach and taking out any defenses is as old as war. However the specifics of D-Day for example the naval/air bombardments that preceded the landing the paratroopers who landed behind enemy lines in mass and various other tactics weren't available to middle age armies.

The technological gap between D-Day and the middle ages is so large I don't think its possible to find a good analogous battle that mirrors D-Day enough to consider it similar. The scope of D-Day combined with the weapons and tech involved make it highly unlikely there is any good comparison between a middle age military engagement and D-Day

The only real similarity I can see between D-Day and a middle age beach landing is that they both involved landing your ships on a beach and unloading troops to establish a beachhead. There isn't the sophisticated weaponry of WWII or the intense amount of counterintelligence the allies had to use to pull off D-Day. Maybe if you jumped into the late middle ages when gunpowder became a thing you might see some prelanding bombardments using early cannons although from my understanding they were unreliable expensive and prone to blowing themselves up if handled incorrectly