No one has posted a translation in poetic English. Maud Karpeles included La Mort du Roi Renaud (The Death of King Renaud), reduced to eleven verses, in her Folk Songs of Europe.

(The originals speak of wounds to his tripes, or entrails; Karpeles changes this to "Sick unto death, wounded full sore).

The Death of King Renaud
M. K. (Maud Karpeles) translation.

1
Renaud, the King, came home from war,
Sick unto death, wounded full sore.
His mother from battlements high
Saw her dear son as he drew nigh.
2
Renaud, rejoice, bright is the morn,
Your wife to you a son has borne.
Neither for wife, neither for son,
Can I rejoice, my day is done.
3
Go make my bed, spread a white sheet;
Here let me rest, here let me sleep.
As midnight chimed, on the last stroke,
The King Renaud gave up the ghost.
4
Come tell to me, my mother dear,
What hammering is it I hear?
The carpenter, my daughter dear,
Mending the barn, that's what you hear.
5
Come tell to me, my mother dear,
What is that chant that I can hear?
It is the monks, they sing and pray
As round the house they wend their way.
6
Come tell to me, my mother dear,
Choose me the dress I am to wear.
Put on the white, put on the grey,
Put on the black, that's best today.
7
As to the church she made her way,
Three shepherd lads passing did say:
There is the wife of King Renaud
Who in his grave now lies so low.
8
Come tell me, mother, I pray
What those three lads passing did say?
They said we must quicken our pace,
Or for the Mass we shall be late.
9
Tell me, I pray, but one thing more,
Why is the earth newly turned o'er?
The truth I can no longer hide,
Renaud is dead, here he does lie.
10
Renaud, Renaud, if this be true,
How can I live parted from you?
Renaud, Renaud, now you are dead,
Comfort and joy from me have fled.
11
Earth, open quick that I may go
To my dear king, to my Renaud.
Lo, the deep grave it opened wide;
Renaud's dear wife cried out and died.

Maud Karpeles, ed., Folk Songs of Europe, pp. 120-121, with musical score. Novello & Co. Ltd.
The French lyrics probably also re-composed by Maud Karpeles from the French originals.

(French lyrics to be posted later.)

Compare with the version posted by Monique, from thread "The French 'Voice of the people set," thread 130522.
Voice of the People set