Birthright

Fiera, a witch, has stayed hidden all her life. When her parents die from a famine in early Medieval England, she decides to begin a new life elsewhere, first meeting Captain, a horse she can speak with, and then rescuing a witch child, Marie. Efar, a griffin, is tired of his life as a lady's man and wants to settle down. Just as he realizes Fiera's not what he first believed, a vicious band of highwaymen attacks, stealing Captain and mortally injuring Marie. As Fiera rushes to the nearby city of Chester to save Marie and Efar races after the stolen Captain, a dragon shifter prince, Bartheleme, plots to ruin their happiness.