The Golden Amazons of Venus by John Murray Reynolds

Dakta death, horrible beyond the weirdest fever-dreams of Earth-men, faced Space Ship Commander Gerry Norton. The laconic interplanetary explorer knew too much. He stood in the dynamic path of Lansa, Lord of the Scaly Ones, the crafty monster bent on conquering the fair City of Larr and all the rich, shadowless lands of the glorious Amazons of Venus.