Yes, yelped is in the scrabble dictionary

...and is worth 13 points by itself.

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Yelped Definition

verb

Simple past tense and past participle of yelp.

from the English-language Wiktionary

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Here are some other words you could make with the letters YELPED, you can also
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Top Words by points	Points
deeply	12

2 letter words with YELPED	Points
de	3
ye	5
pe	4
ed	3
el	2

3 letter words with YELPED	Points
dee	4
yep	8
pye	8
ply	8
pee	5
ped	6
lye	6
ley	6
lee	3
led	4
eye	6
eld	4
eel	3
del	4
dep	6
dye	7
dey	7

4 letter words with YELPED	Points
eely	7
yelp	9
yeld	8
pled	7
pele	6
peel	6
peed	7
deep	7
dele	5
lede	5
eyed	8

6 letter words with YELPED	Points
deeply	12
yelped	12

Found 35 words in 0.18111 seconds