Idylls (Narrative poetry)
Idyls (Narrative poetry)
Poetic narratives

Myers, J. Dictionary of poetic terms, c2003 (narrative poem: a nondramatic poem that tells a story)
New Princeton encyclopedia of poetry and poetics, 2012 (narrative poetry: Narrative turns the raw material of story--the "telling" of a concatenation of events unfolding in linear time--into a (more or less) artful organization of those events that may complicate their chronology, suggest their significance, emphasize their affect, or invite their interpretation; poetic narrative)
Kennedy, X.J. The Longman dictionary of literary terms, c2006 (Narrative poem. A poem that tells a story. Narrative is one of the four traditional modes of poetry, along with lyric, drama, and didactic. Ballads and epics are two common forms of narrative poetry.)
Reitz, J.M. ODLIS : online dictionary for library and information science, Feb. 17, 2014 (idyll: A narrative poem based on a romantic, epic, or tragic theme, for example, Idylls of the King (1859) by Alfred, Lord Tennyson, an episodic retelling of the fables of the Holy Grail, Camelot, Round Table, and Morte d'Arthur; idyl: From the Greek word meaning "little picture"--a short poem describing the simplicity and innocence of rural, pastoral, or domestic life. The origin of this literary form can be traced to Theocritus, who described pastoral life in Sicily for readers in Alexandria during the 3rd century B.C. An eclogue is a type of idyl)
Merriam-Webster online, Feb. 17, 2014 (idyll 1 a : a simple descriptive work in poetry or prose that deals with rustic life or pastoral scenes or suggests a mood of peace and contentment. b : a narrative poem (as Tennyson's Idylls of the King) treating an epic, romantic, or tragic theme. Variants of idyll: idyl)

Poems that tell a story.