Other forms: yelping; yelped; yelps
A yelp is a loud cry of pain, like what you’d hear after you step on a dog’s tail by accident. It was an accident, right?
The root of yelp is the Old English word gielp, which means “boast.” Clearly the meaning has changed over time, since yelping is nothing to boast about, as it usually involves pain of some kind. The word works as a noun and a verb, so you could say “I can hear a dog yelping,” or “The dog’s yelps kept me up all night.” You could also pet your dog a lot, which will help with the yelps.