I read this as a very young teen and don't remember much about it. What I do remember is
- The setting was probably post-apocalyptic Earth but may have been a desolate extrasolar world
- Human settlements were very sparse
- A boy often went out and hunted by himself with his "cat" (in my mind's eye it is panther sized or larger)
- He could communicate telepathically with the "cat"
- The "cat" was intelligent
- (this may or may not be a real memory) the large telepathic cats were descendents of domesticated cats
- (this may or may not be a real memory) domestic dogs also survived but weren't nearly as smart and were not telepathic
- Not sure whether it was the cat or the human who had telepathy or whether it was a bonding
- I think it was a novel