Although it seems inconsistent with history, it is believed that the Paladin took its origin some time prior to the advent of the Knight during the 8th century when Charlemagne, the militant ruler formed a group of twelve powerful soldiers that were to protect him from harm and command his troops.

事实上圣骑士源自8世纪,由查尔曼大帝(手下?)的12个战士组成
In their earliest appearances the paladins were not the companions of Charlemagne, but of his vassal Roland. This Roland is based on the historical figure Hruodland, who is mentioned by Charlemagne's biographer Einhard as a Lord of the Breton March who died in the Battle of Roncevaux Pass; nothing else of him is known.
摘自维基