These are historical mysteries you could listen to with kids in the room:
Anne Perry, the Thomas Pitt Series (set in Victorian England -- good mysteries).
Fiona Buckley, Ursula Blanchard series (mysteries set in Elizabethan England).
I'm sure I can come up with a lot more. I love historical mysteries, too.
Hope this helps!
gardenia (I'm back!)
a.k.a. gardenia, my favorite flower