Moon of Three Rings by Andre Norton
Krip Vorlund, an assistant cargo master on a trade ship, is visiting a beast show with some of his crewmates on a frontier planet called Yiktor. There he meets a woman named Maelen who takes care of the little furry creatures that perform in the show. It’s obvious that she controls them, yet they seem more like children than slaves. In fact, when a messenger arrives and tells her that a man is abusing a creature somewhere in the town, she gets angry and goes to intervene.
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Oh, this sounds interesting!