"Overlords From Space" by Jospeh E. Kelleam

Beware the Planet-wreckers!

The regime of the Zarles had turned Earth into Hell. Possessing strange unearthly perception weapons of cosmic destruction, and motivated by an inhuman cruelty, these overlords from space had enslaved the Earth in a feudal terror. Then, one day Jeff Gambrell, a human slave, defied his particular tyrant once too often and found himself facing the seemingly impossible challenge - how to escape. It had been done once before, therefore he knew that what had always seemed impossile was not....

Jeff's life and death struggle against the fiendish cunning of the Zarles is set against a startling background of unleashed interplanetary fury. Joseph E. Kelleam's new novel explores the frightening depths of man's inventive powers with brilliant detail and breath-taking power.

Kelleam's novel of Earth occupation by the tentacle-handed Zarles isn't actually that bad. Earth has been occupied by these alien invaders for generations and humans appear only to now exist in slave labour camps. 

Jim Gambrell, assisted by his brother Jeff, manages to escape over the wall, and although hunted by by his alien slavemaster Raiult and his equally alien hounds, is at the last minute whisked away by a rescuer in a globular air vehicle. The narrative then follows Jim's brother Jeff, left alone in the labour camp and plotting an escape of his own.

Raiult has a 'pleasure slave' for want of a better word. The Zarles have bred a strain of human women called Kittens who are essentially pets. They are blonde and petite and one can't help but make comparisons with earlier US works such as Cummings 'The White Invaders' where aliens (often dark skinned aliens) take a liking to the white womenfolk of America. 

There's no suggestion of sexual exploitation here as the Zarles - as is explained later - are essentially sexless and have transferred their reproduction to technological means. Raiult employs his Kitten as a companion and seems to derive pleasure from her singing.
She is not as docile and compliant as Raiult imagines, however, and steals some of her master's devices to help Jeff escape where he is in turn rescued by Red O'Leary (the pilot who rescued his brother and father) and is reunited with them in a space station of free humans seeking to overthrow the power of the Overlords.

There's a bit of an odd detour through the worlds of probability, which looks like a desperate way of solving a couple of plot resolution issues, but on the whole it's a pleasurable enough read. (Roddy Williams, GoodReads)