Black Ships Before Troy by Rosemary Sutcliff
I really enjoyed this book. The illustrations are excellent and the story is very well written. I think it does a fabulous job taking the essentials of the Iliad and turning it into something children/young teens can understand.
I haven't read it to my kids yet. The subject material is a bit intense and rather bloody. I will have them read it during the next cycle of ancient history (5th grade).
I also think if you're intimidated by the Iliad you could read this to understand the original work. This may be all you (or a child) needs.