While the language evolved during Shakespeare's time, "between" remained a common and recognizable word.
However, depending on the context, you might find other words used to convey a similar meaning:
* Amidst: "The knight stood amidst the throng."
* Amongst: "He was amongst the best swordsmen in the land."
* Betwixt: "Betwixt the two towers, a bridge was built."
* Tween: (a more informal abbreviation) "I'll meet you tween the hours of nine and ten."
The choice of words would depend on the specific nuance and style of writing.