Rider at the Gate (Nighthorse, Book 1)

Rider at the Gate is the first in a two-book series chronicling the existence of human colonists stranded on a planet whose only native life forms are linked by telepathy, sending sensory images to one another enhanced by powerful emotions. One of these species, the "nighthorse," befriends the humans, and together they form a bond of mutual protection--the nighthorses guard their riders against the planet's mind-clouding predators, while the humans provide them with food and shelter. Once matched, the two experience a companionship more profound than either has ever known before. The story continues in Cloud's Rider.