Did workers get paid in Medieval Times?

Actually, queens did get paid. Most kings gave their queens allowances, and these were often fairly large. In addition, queens usually had their own estates, and the people who lived on the estates paid rent to the queen.

An example is Emma of Normandy. When she married Ethelred the Unready, her father, who was the Duke of Normandy, gave her some property he owned in England as a wedding present. The property consisted of the cities of Exeter and Winchester.