Final answer:
Richard I and Saladin reached an agreement during the Third Crusade.
Step-by-step explanation:
During the Third Crusade, the military leaders who reached an agreement were Richard I and Saladin. Richard I, also known as Richard the Lionheart, negotiated a treaty with Saladin that left Jerusalem under Muslim control but allowed Christian pilgrims to visit the city freely. Both leaders were praised in Europe and their respective religions for their chivalric virtue.