You searched for: “yelp
yelp, yelp
yelp (YELP) (verb)
To utter a quick, short, sharp bark, or high cry: "Dolores could hear her daughter, Jill, yelp in shock when her father sprayed her with cold water from the hose as they were playing around in the back yard."
yelp (YELP) (noun)
A short, sharp cry, or bark: "The dog let out a yelp of pain when Alicia accidentally stepped on its foot."

Audrey could hear the yelp of the puppy that would often yelp when it was excited.