actually, yes: not in the British tales, but in a Dutch tale of King Arthur's knights.
While searching for Lancelot thirteen years prior, Aglovale had traveled through the Moorish lands and fallen in love with a beautiful princess. They pledged their betrothal, but refusing to abandon his quest before Lancelot was located, Aglovale left the country before they could marry. He left her pregnant with his son Morien, who would grow into a tall, handsome youth "black of face and limb... After Morien tells his story to Lancelot and Gawain, who promise to help him find his father, the knights go on a series of adventures showcasing their talents. In the end father and son are reunited, and Aglovale travels to the land of the Moors to marry his lover and win back her rightful lands.
I ran across it as an audiobook while checking out stuff at Archive.org