Dragon Slippers series

Dragon Slippers by Jessica Day George

Creel is hardly a damsel-in-distress. After her aunt totes her out to the local dragon in desperation (with the hope that the local prince will rescue her from certain death and marry her), Creel refuses the haughty prince and finds friendship with the dragons, who set her on a journey to the center of the kingdom with a pretty pair of what only seem to be ordinary slippers.

Catch this series from the beginning:

1. Dragon Slippers
2. Dragon Flight
3. Dragon Spear