Sounds like you want a book like any of these, which I recall seeing on my local library's shelf and flipping through in the past:
What People Wore Then (worldwide) by Melissa Leventon, or John Peacock's (he was a BBC costume designer)
Costume: 1066 to the Present (England, but a good set of medieval-to-Renaissance) or
The Story of Costume (a little shallower, but broader).
All three are primarily visual pictoral references that should be nicely inspiring if you don't really need to know the details of what/when/where/how it was worn.
Also, to see some medieval clothing "live", you might want to check out the costuming blogs of historical recreationists like the people in the Society of Creative Anachronism.
Here's
a really nice one where the author not only shows off and models her own works from different time periods, under the "Featured Attyre" section she also showcases some very nice stuff from other costumers, who'll in turn have their own blogs you might want to have a look through.
Hope this helps.