Lionheart is a bit stiff in the animations I think, but I think it's a good example of everything having a great atmosphere. I love the sort of "fantasy horror" feel.
Others that spring to mind like that are Darkmere (which I still have to sit down and figure out) and the second Shadow of the Beast.
What about Heimdall 2? It's a bit cartoonish but very well done, visually.