Masters & Slayers by Bryan Davis

Book 1 of Tales of Starlight

Summary:

Expert swordsman Adrian Masters attempts a dangerous journey to another world to rescue human captives who have been enslaved there by dragons. He is accompanied by Marcelle, a sword maiden of amazing skill whose ideas about how the operation should be carried out conflict with his own.

Since the slaves have been in bonds for generations, they have no memory of their origins, making them reluctant to believe the two would-be rescuers, and, of course, the dragons will crush any attempt to emancipate the slaves. Set on two worlds separated by a mystical portal,Masters and Slayers is packed with action.

Opening Lines: 

Never make a women bleed, my son.

Adrian stood at his corner of the tourney ring, tightening his grip on the hilt of his sword as he listed to silent echoes of his father's words.

If you draw your sword against those you were born to protect, the very ones who trust in your strength, how will you convince them that you are a shield when the dragons come to take them away?