Japanese historical dramas don't seem to be that popular as korean or chinese dramas are, but they actually have quite a lot of historical dramas as well.
You can try watching any Taiga drama. This type of drama is by definition always a historical one (although covered eras/years can vary from very very ancient to more 'modern' but still historic), and you'll usually find high profile actors/actresses starring on them so these have quite a lot of production behind.
Although they may not be everyone's cup of tea as they usually have complex themes, lots of characters and having a bit general grasp of Japan's history is also recommended.
https://mydramalist.com/search?adv=titles&th=1419&so=popular&or=desc
Yoshitsune, Fuurinzakan, Ryoma Den, Yae no Sakura are some examples that come to my mind because they are based on people who are very popular on Japan's history/culture, and they have very popular actors/actresses on them as well.
Aside of Taiga I may also recommend:
Carnation (Drama) It is not that ancient, but the story goes all the way from before WWII to the modern times.
Chouchou san (SP Drama)
JIN (Drama) and its sequel, JIN 2
Sakuran (Movie)
Tenno no ryoriban (Drama)
Yukinojo Henge (SP Drama)
The Tale of Genji (Movie) This one is based on the novel "Genji Monogatari" which is regarded as the 1st ever novel to have existed. The story has been taken to the screen on more than 1 occassion.
Anmitsu Hime (SP Drama) and its sequel, if you're looking for something lighter, cute and not too realistic.
Hope this helps