I think you'd have to be pretty unlucky not to be able to get out of the way of a reasonably placid warhorse and be trampled to death by a single one of them.
But warhorses were, as I'm sure you are aware, very short but incredibly stocky things which weren't bred to get 7-stone jockeys to the winning post quickly, but a knight in armour across countries at walking pace.
Could it knock someone into something? Or could it knock someone over who fell against something? I suppose broken ribs could puncture a lung.
Horses generally head into ground they can see in advance is clear (they don't watch where they are putting their feet) so if your warhorse were travelling at a bit of a lick, and someone got knocked underneath, kicked in the head...
I think I could be convinced that an unlucky person could die, yes. I think a kick in the head by a scared, running warhorse would seem possible and believable.
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