This is one my favorite Norton books, and this is the best of all covers for it - perfectly capturing Kincar and his mord, Vorken.

Star Gate (1958) - Terrans had come to Gorth as Star Lords, raising up the primives they found there. Centuries later, most left by starship, but a few had formed ties, and with their families and mixed breeds wanted to try a different way: to seek a better Gorth via a crosstime "gate." What they found was a Gorth where the Star Lords had come as conquerors. Follow Kincar S'Rud, Hold Daughter's son (his father was a Star Lord) as he joins this band and finds his destiny.