Yup, we've already discussed Brynhildr/Brunhilde...but she was (almost certainly) fictional.
However, Gudrun, wife of Atli (ie Attila the Hun) may have been based on reality. It is said that he died on his wedding night to a German princess called Hildico or Ideco, possibly of poisoning...
However, I believe that Tolkien was inspired more by literary than historical shieldmaidens.
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Out went the candle, and we were left darkling
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