Knights of the Endless Day by Robert Priest

From Robert Priest's website:
Based on his successful play of the same name, it tells the story of would-be knight, Ogo, who longs to fight dragons and giants, but must instead transport the King's infant daughter, Illia, across a 'very safe' terrain to the Queendom which her mother, Queen Blue, rules. When the trip goes awry and Ogo, must actually face his longed for dragons and giants, due to the presence of the child, he has to find other means than physical combat to have his way.