At the Queen's Summons (Tudor Rose #3)
Susan Wiggs

Pippa provides a welcome diversion for Aidan as he awaits an audience with the queen, who holds his people's fate in her hands. Amused at first, he becomes obsessed with the audacious waif who claims his patronage.
Rash and impetuous, their unlikely alliance reverberates with desire and the tantalizing promise of a life each has always wanted—but never dreamed of attaining.