The Goose Girl by Shannon Hale

Anidori-Kiladra Talianna Isilee, Crown Princess of Kildenree, spends the first years of her life listening to her aunt's stories and learning the language of the birds, especially the swans. As she grows up, Ani develops the skills of animal speech, but she never feels quite comfortable speaking with people.

So when Ani's mother sends her away to be married in a foreign land, she finds herself at the mercy of her silver-tongued lady in waiting, who leads a mutiny that leaves her alone, destitute, and fleeing for her life. To survive, Ani takes on work as a royal goose girl, hiding in plain sight while she develops her forbidden talents and works to discover her own true, powerful voice.