Usagi Yojimbo

Usagi Yojimbo (rabbit bodyguard) met the Ninja Turtles once.
The author, Stan Sakai, also really knows his history, and if you're willing to overlook the fact that it's filled with furries and most herd animals are tiny dinosaurs, Usagi Yojimbo can be appreciated for its highly accurate depiction of 1600s Japan.