I've been homeschooling my children for 16 years, and was homeschooled as a child, as well. Throughout this journey, I have not seen a more fun and engaging history text for children than Story of the World. It flows like a story (which is how I believe history is best taught) and doesn't bog down in too many details. I believe it draws students in with the excitement of history and leaves them hungering for more.
I do history with all of my children at the same time, so my current students are 5, 7, 10, and 15. They all enjoy these stories, and are able to see how history is not a disconnected, unrelated jumble of names and dates, but a fascinating story that continues to this day.
We use this book as one of our "spines" and supplement with lots of other books to expand the narrative (as suggested in the Activity Guide in this series). I read aloud from this book (and series) almost daily. Highly recommended!