City of the Chasch (Planet of Adventure, #1)

Someone sent distress signals to outer space from the planet Tschai. It was Adam Reith's misfortune to be sent from Earth to investigate. Because when his ship came close to Tschai, it was torpedoed... and Adam escaped to the surface with his life and nothing else.

Tschai was a vast planet and previously unexplored. Adam, taken as slave by humans, learned that there were four other intelligent but non-human races dominant on that strange world. And to find the mystery of the distress call and the vicious attack, he would have first to gain his freedom and then find a safe way to pass the city and the alien Chasch and their treacherous cousins, the Blue Chasch.

Jack Vance's Tschai novels are considered his masterwork, a constantly changing epic canvas of weird peoples, exotic lands, and surprising extra-terrestrial adventures.