The Queen's Lady by Eve Edwards, Book #2 in The Lacey Chronicles
It wasn't until a few chapters in that I discovered there was a Book 1, but, no worries! You don't need to read the first book to understand what's going on.
Lady Jane Rievaulx is a widow. At age 18. Her elderly husband has recently died and now she must fend off his sons and her father to stay independent. That is difficult to do in England in 1583. She becomes a lady's maid to Queen Elizabeth, but still isn't free to love who she wants.
This is historical romance--big skirts and all! Plenty of love, intrigue, and humor to keep you reading.