SciFi and Fantasy Book Club discussion

Slave girl on earth with few humans and three(or more) conquering aliens(species).

These species are a earth dwelling a fire breathing lizard(almost like dinosaurs) seperated in three main types. An earth dwelling dwarfish species that tunnels an are ruled by Mothers(I may be confusing this with a another of the earth dwellers) A vampiric race, that dwells in the earth as well but attacks one of the conquerors a sophisticated very tall race(I can't remember my about their race).

The slave girl starts the book standing on a battle field where her master(one of the reptilian fire breathers) has just died leaving her alone and without a master for the first time in her life. Humans are all but extinct and she is taken in my someone(a scavenger of battlefields). She develops a psychic or some preternatural skills through the book.

There are more things I remember that aren't as well defined for me to be specific on.