Some of the ready-painted D&D figures from Wizards of the Coast look like medieval peasants - the latest release "Desert of Desolation" even has a farmer carrying a pig under one arm. There are a few others about, incuding huntsmen, tavern brawlers, monks etc
May not be in the same league as Foundry, but you can pick up common figures fairly cheap on eBay.
The "Night Below" set includes quite a good prisoner in chains, and the "Unhallowed" set has a good torturer