I've not read it, but I really loved the series, especially the final scene at the gallows, although I suspect it plays out rather differently in the book. It helps that it's set in a period I find fascinating!
I'm a big fan of the Cadfael books, which are set at the same time. Ellis Peters originally wrote the first one (A Morbid Taste for Bones) as a stand-alone, but it was so popular she ended up turning it into a series covering the Anarchy, the war between Empress Maud and King Steven that is also at the heart of "The Pillars of the Earth", with two to four books covering each year. What I particularly like is how the books described the effects of the war on ordinary people, and also how complex it was given how many factions there were in addition to those of the Empress and King, such as those of the Earl of Chester, the Earl of Essex and the King of Gwynedd. Unfortunately she only got half way through the series before she died: the last book was set in 1145, at roughly the mid-point of the Anarchy (1135-1153).
My favourite book 'Bodyguard of lies' by Anthony Cave Brown I just finished it before the D Day anniversary its amazing how cleaver some of the guys were back then.