3 With their rude hands and grisly grapplement,
rude > rough, clumsy; violent grisly > horrible, fearsome grapplement > grappling; clutch, grasp (WU)
4 Till the villein, coming to their aid,
villein > villain, serf
5 Upon him fell, and load upon him laid; 6 Full little wanted, but he had him slain,
Full little wanted, but he had him slain > [Maleger very nearly killed him; "full" = "very", "wanted" = "lacked">[
7 And of the battle baleful end had made,
baleful > deadly, unhappy
8 Had not his gentle squire beheld his pain,
his > [Arthur's] gentle > noble