Reddit reviews Lancelot: Tales of King Arthur (Books of Wonder)
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Used Book in Good Condition
He did another book about Arthur called Tales of King Arthur: The Sword in the Stone. And also a Lancelot book.
I think it might be hard going from here since I can't find ways to look inside some of these books to know if the illustrations are correct (as you said, full page and in color). Maybe the cover art will jog your memory a little? Here are some more that would fit the time period:
King Arthur by Howard Pyle (has full page in color illustrations)
The Tales of King Arthur by James Riordan
Amazing Adventures of King Arthur by Angela Wilkes (most likely wrong, but I thought the comic style speech bubbles in the illustrations were funny)
Orchard Book of Legends of King Arthur
King Arthur and His Knights in Mythology
Livewire Myths and Legends: King Arthur
Tales of King Arthur and His Knights
King Arthur and Legends of Camelot
King Arthur and his Knights
King Arthur: And the Knights of the Round Table
Was the book a normal paperback with each page in portrait orientation, or was it an oversized book where the pages are much bigger and sometimes in landscape orientation?