I just managed to win a battle vs six minotaurs, in similar circumstances to the above, with a warrior. Admittedly I've progressed far enough through the campaign to unlock second tier units, and third tier shops (very useful to have strong armour). What allowed me to win, though, was discovering that I could buy gargoyles from a sorcery school (and if I'd not already bought other second tiers I'd have loaded up my second+tiers solely with gargoyles). They were able to take two hits rather than 1, and even took down one of the minotaurs. The really important success, though, was when I'd been surrounded with minotaurs and beserked: one round attack killed 4 of them!
In future situations of that sort, remember that if you have/train up multiple heroes, you can attack with both in one turn. Even if the first isn't strong enough to win, the guards take some time to recover, which will massively increase your other hero's chances.