I found an older post. However, I think the community has grown significantly. I wanted to know if there are any good beginner-level chapter books for kids in 1st–3rd grades.
To narrow it down, my kiddo's very interested in Ancient Egypt, and Ancient China.
It isn't quite what you were asking for, and it's really for the top of your age range, but Dig is a pretty sweet looking archeology/history magazine for kids. No ads. Seems more in depth than what you usually get, and many of the articles are written by actual archeologists. Each issue is themed, so a recent one was on the Olympics. The current sample issue (here) is on the Faiyum oasis in Egypt. The articles cover topics ranging from the Middle Kingdom construction of a canal connecting it to the Nile through Roman Egypt and the Faiyum mummies up to Flinders Petrie.
A Little History of the World by E.H. Gombrich
It was written in the 1950s for children so it may be a bit dry but it is by no means condescending. It details right back to the Mesopotamians right through to the 20th century.
For something a bit more light hearted, try the Horrible History series.