Where did the knights joust in tournaments?

Roughly, between 1066-1600ish. The earliest 'tournament' reference is 1066. King Henry II {english} banned tournaments in the latter part of the 12th century. His son, King Richard I, {english} reinstated tournaments with specific rules. The musket was invented in 1520 making jousting/lancing an obsolete combat tactic. At this point it was solely entertainment at tournament. In 1599 King Henry II {french} died as a result of a lance splintering, piercing his eye and lodging in his brain. As a direct result of the invention of the musket and significant danger - jousting fell out of favor and into rapid decline before disappearing altogether. {Although, it was reborn [[allegedly, more safely]] in the latter years of the 20th century.}