The Collaborative International Dictionary of English v.0.48:

Yelp \Yelp\, v. i. [imp. & p. p. Yelped; p. pr. & vb. n.
   Yelping.] [OE. yelpen, [yogh]elpen, to boast, boast
   noisily, AS. gielpan, gilpan, gylpan; akin to OHG. gelph
   arrogant: cf. Icel. gj[=a]lpa to yelp. Cf. Yap.]
   [1913 Webster]
   1. To boast. [Obs.]
      [1913 Webster]

            I keep [care] not of armes for to yelpe. --Chaucer.
      [1913 Webster]

   2. To utter a sharp, quick cry, as a hound; to bark shrilly
      with eagerness, pain, or fear; to yaup.
      [1913 Webster]

            A little herd of England's timorous deer,
            Mazed with a yelping kennel of French curs? --Shak.
      [1913 Webster]

            At the least flourish of a broomstick or ladle, he
            would fly to the door with a yelping precipitation.
                                                  --W. Irving.
      [1913 Webster]

WordNet (r) 3.0 (2006):

yelping
    n 1: a sharp high-pitched cry (especially by a dog) [syn: yip,
         yelp, yelping]

Moby Thesaurus II by Grady Ward, 1.0:

19 Moby Thesaurus words for "yelping":
   bawling, blatant, boanergean, brawling, clamorous, clamoursome,
   crying, loudmouthed, noisy, obstreperous, openmouthed, screaming,
   shouting, vociferant, vociferating, vociferous, yammering, yapping,
   yelling