I just finished Escape from Falaise, book #5 of the Ranger's Apprentice: The Royal Ranger series by John Flanagan.
"Fantasy is escapist, and that is its glory," said the great J.R.R. Tolkien, so naturally a book with "escape" in the title that combines a rescue mission with daring escape has high potential for excellence. Make it a Ranger's Apprentice book, and potential becomes a dead-certain guarantee as once again Maddie and Will (with some help) save the day as well as a sniveling, pathetic excuse for a prince. Let's face it, a girl Ranger rescuing a prince-in-peril from a tower is far more exciting than a male knight doing the same for a damsel-in-distress. More realistic too.