Some narrative poetry takes the form of a novel in verse. An example of this is The Ring and the Book by Robert Browning. In terms of narrative poetry, a romance is a narrative poem that tells a story of chivalry. Examples include the Romance of the Rose or Tennyson's Idylls of the King. Although these examples use medieval and Arthurian materials, romances may also tell stories from classical mythology.
The most popular form of narrative poetry is probably the ballad. Originally intended to be sung while dancing, ballads have enjoyed a revival since the 1950s as part of the general revival of interest in folk music.