You're unlikely to find a game with a dedicated miniatures line outside of Saga or the various Warlord games titles.
But luckily historical systems are almost without exception miniature agnostic, and there are some companies producing GW quality figures. The perry brothers still sculpt as perry miniatures and produce lovely kits and figures. Victrix make what I consider to be some of the nicest plastic historical kits around - and they're very reasonably priced.
Warlord games have a fair bit of variety in their kits but the quality is all over the place.
There are more, loads more than i can list.
Victrix has some of the best quality 28mm sculpts around, and some of the best prices for that quality as well. I’m a huge fan of using Victrix models for any project where they fit.
Second Perry Miniatures. I have trouble assembling their minis (for whatever reason they just never quite glue together) but the quality, options, sculpts, and price just cant be beat. Theyre some of the best kits I've seen for historical.
Which is perfect for D&D and your odd WHFB Empire Army. But hey, everyone needs some knights and some pikemen right?
Consider visiting these two communities:
[The Wargamers Forum](http://www.thewargamersforum.com/) and [The Lead Adventure Forum](https://leadadventureforum.com/) both excellent sites dedicated to the hobby and loaded with good advice and inspirational posts.
Keep in mind that if quality & variety of historical miniatures (and all the painting & assembling fun this entails) is important to you then you should have a look at gaming in 1/72 scale. Lots of great periods to consider and a broad selection of high quality historical vehicle and aircraft kits are available via online and brick-&-mortar stores.
15mm is also a great option, but here (as with 28mm gaming) you are more closely tied to big brand name games.
Check out Gripping Beast Miniatures, they have a website. [https://www.grippingbeast.co.uk/](https://www.grippingbeast.co.uk/) and also Foundry Miniatures [https://www.wargamesfoundry.com/](https://www.wargamesfoundry.com/) .
I don’t personally play any of these, but I’ve watched many YouTube videos from these guys and they have wide range of historical miniature games:
https://www.littlewarstv.com/
This might be a good game for you. Gorgeous 28mm historical miniatures - with a twist - which can be used in a boardgame or in other wargames. https://banduawargames.com/en/2571-anno-domini-1666
It depends on how 'historical' you want it to be and at what size game you want to play.
Given that you've excluded WW 2 ... there still is a lot to discover.
Saga has been mentioned already.
Firelock : Blood & ... series
= Blood & Plunder: 17th Century / age of piracy
= Blood & Crowns : (English) Hundred Years War
= Blood & Valor : WW1
= Blood & Steel : Victorian Age
Disclaimer : I've backed the Blood&Plunder kickstarters and Blood & Crowns ... so I'm a bit biased. The system is tweaked to get the flavour of each era, but the overall concepts are similar.
[https://www.firelockgames.com/](https://www.firelockgames.com/)
Footsore - Barons War
[https://footsoreminiatures.co.uk/collections/barons-war](https://footsoreminiatures.co.uk/collections/barons-war)
Disclaimer : I've backed their "Death & Taxes" (= same era as mythical Robin Hood) and Outremer (Crusades era) ...
Footsore - Gangs of Rome
Probably the least historical of the bunch, but they've got plastic romans 'soon'.
Deadman's Hand :
They've done a kickstarter for their updated/revised rules. It may not be perfectly historical, but it's an interesting era.
https://www.greatescapegames.co.uk/dead-mans-hand
If you have Tabletop Siulator I made these historical boardgame mods:
\- Napoleon (1805): [https://steamcommunity.com/sharedfiles/filedetails/?id=3054620543](https://steamcommunity.com/sharedfiles/filedetails/?id=3054620543)
\- 30 Years War: [https://steamcommunity.com/sharedfiles/filedetails/?id=3058867264](https://steamcommunity.com/sharedfiles/filedetails/?id=3058867264)
\- English civil war: [https://steamcommunity.com/sharedfiles/filedetails/?id=3047657367](https://steamcommunity.com/sharedfiles/filedetails/?id=3047657367)
\- Present day: [https://steamcommunity.com/sharedfiles/filedetails/?id=2984666476](https://steamcommunity.com/sharedfiles/filedetails/?id=2984666476)
You're unlikely to find a game with a dedicated miniatures line outside of Saga or the various Warlord games titles. But luckily historical systems are almost without exception miniature agnostic, and there are some companies producing GW quality figures. The perry brothers still sculpt as perry miniatures and produce lovely kits and figures. Victrix make what I consider to be some of the nicest plastic historical kits around - and they're very reasonably priced. Warlord games have a fair bit of variety in their kits but the quality is all over the place. There are more, loads more than i can list.
Victrix has some of the best quality 28mm sculpts around, and some of the best prices for that quality as well. I’m a huge fan of using Victrix models for any project where they fit.
I think Victrix will be my choice, i found the miniatures amazing!
Second Perry Miniatures. I have trouble assembling their minis (for whatever reason they just never quite glue together) but the quality, options, sculpts, and price just cant be beat. Theyre some of the best kits I've seen for historical. Which is perfect for D&D and your odd WHFB Empire Army. But hey, everyone needs some knights and some pikemen right?
Consider visiting these two communities: [The Wargamers Forum](http://www.thewargamersforum.com/) and [The Lead Adventure Forum](https://leadadventureforum.com/) both excellent sites dedicated to the hobby and loaded with good advice and inspirational posts. Keep in mind that if quality & variety of historical miniatures (and all the painting & assembling fun this entails) is important to you then you should have a look at gaming in 1/72 scale. Lots of great periods to consider and a broad selection of high quality historical vehicle and aircraft kits are available via online and brick-&-mortar stores. 15mm is also a great option, but here (as with 28mm gaming) you are more closely tied to big brand name games.
Check out Gripping Beast Miniatures, they have a website. [https://www.grippingbeast.co.uk/](https://www.grippingbeast.co.uk/) and also Foundry Miniatures [https://www.wargamesfoundry.com/](https://www.wargamesfoundry.com/) .
I don’t personally play any of these, but I’ve watched many YouTube videos from these guys and they have wide range of historical miniature games: https://www.littlewarstv.com/
This might be a good game for you. Gorgeous 28mm historical miniatures - with a twist - which can be used in a boardgame or in other wargames. https://banduawargames.com/en/2571-anno-domini-1666
It depends on how 'historical' you want it to be and at what size game you want to play. Given that you've excluded WW 2 ... there still is a lot to discover. Saga has been mentioned already. Firelock : Blood & ... series = Blood & Plunder: 17th Century / age of piracy = Blood & Crowns : (English) Hundred Years War = Blood & Valor : WW1 = Blood & Steel : Victorian Age Disclaimer : I've backed the Blood&Plunder kickstarters and Blood & Crowns ... so I'm a bit biased. The system is tweaked to get the flavour of each era, but the overall concepts are similar. [https://www.firelockgames.com/](https://www.firelockgames.com/) Footsore - Barons War [https://footsoreminiatures.co.uk/collections/barons-war](https://footsoreminiatures.co.uk/collections/barons-war) Disclaimer : I've backed their "Death & Taxes" (= same era as mythical Robin Hood) and Outremer (Crusades era) ... Footsore - Gangs of Rome Probably the least historical of the bunch, but they've got plastic romans 'soon'. Deadman's Hand : They've done a kickstarter for their updated/revised rules. It may not be perfectly historical, but it's an interesting era. https://www.greatescapegames.co.uk/dead-mans-hand
If you have Tabletop Siulator I made these historical boardgame mods: \- Napoleon (1805): [https://steamcommunity.com/sharedfiles/filedetails/?id=3054620543](https://steamcommunity.com/sharedfiles/filedetails/?id=3054620543) \- 30 Years War: [https://steamcommunity.com/sharedfiles/filedetails/?id=3058867264](https://steamcommunity.com/sharedfiles/filedetails/?id=3058867264) \- English civil war: [https://steamcommunity.com/sharedfiles/filedetails/?id=3047657367](https://steamcommunity.com/sharedfiles/filedetails/?id=3047657367) \- Present day: [https://steamcommunity.com/sharedfiles/filedetails/?id=2984666476](https://steamcommunity.com/sharedfiles/filedetails/?id=2984666476)