Series of novels from .. the 80s I think, maybe even the 70s. Post apocalyptic, set some centuries after whats presumbably a third world war. The man characters are horse nomads in the central US, who have telepathic abilities (mindspeak), and can talk with their horses, prairecats (big felines .. lion / tiger things) and each other.
Civilisation is back to mostly a medievil level, so lots of swords and armour.