Claudius series by Robert Graves
From the Autobiography of Tiberius Claudius, Born 10 B.C., Murdered and Deified A.D. 54.
Set in the first century A.D. in Rome and written as an autobiographical memoir, this colorful story of the life of the Roman emperor Claudius stands as one of the modern classics of historical fiction.
Physically weak and afflicted with stuttering, Claudius is initially despised and dismissed as an idiot. Shunted to the background of imperial affairs by his embarrassed royal family, he becomes a scholar and historian, while palace intrigues and murders surround him. Observing these dramas from beyond the public eye, Claudius escapes the cruelties inflicted on the rest of the royal family by its own members and survives to become emperor of Rome in A.D. 41.