Lady Godiva was the wife of Leofric, earl of Mercer. She also was wealthy in her own right, and did a great deal for religious and charitable enterprises. This much we know is true. She pleaded the causes of the poor with her husband, and here we descend into legend. She argued against a new and onerous tax he passed on the townspeople and he lost his temper, saying he'd lift the tax she day she rode nude through the streets of Coventry.
She did, and he kept his word. She is still celebrated to this day in the town, with her statue at its center, and her logo used to the city council. This last sentence at lease we know is true.
Here's an excerpt from Fearless Pursuit