In illuminations, lances of knights with pennants are very common. There also are spearmen with them, although they are a bit harder to find on Google. In particular, I found this one -- a fac simile from the early XIX century of a now lost manuscript, the Hortus deliciarum, from the XII century. https://gallica.bnf.fr/ark:/12148/bpt6k9400936h/f7.item See the bottom. Also the Varangian Guard in a contemporary representation: https://en.wikipedia.org/wiki/Varang...Skyla_Gate.jpg

They seem to be limited in the Bayeux tapestry, where however they are present for very important knights and occasions, like when Conan gives up the keys of St. Michael by passing them over with a lance to another lance, both with pennants. The weapons given to Harold by William also have a pennant.

By the way, there is something I find interesting about the tapestry: in it, the Normans are referred to as "Franci".