whinny
A soft, high horse sound used to call or communicate.
A whinny is the high-pitched neighing sound a horse makes, usually when it's excited, nervous, or calling to other horses. If you've ever visited a stable at feeding time, you've probably heard horses whinnying in anticipation of their meal. A mare might whinny to her foal, or a horse might whinny when it sees its owner approaching with a carrot.
The sound is softer and more musical than a snort, which is the sharp breathing sound horses make when they're startled or investigating something new. A whinny carries farther and sounds almost conversational, like the horse is trying to communicate something specific rather than just reacting to a sudden surprise.
As a verb, you can say a horse whinnies when it makes this sound. In stories, horses often whinny to alert their riders to danger or to express their feelings. Real horses use whinnies to stay connected with their herd, since horses are social animals that like to know where their companions are.