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Marion Zimmer Bradley - Darkover series (Not my favourite, but well-liked by many)
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And arguably SF, not fantasy, though I can see why it might be seen as fantasy.
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The early stories about their relations with the Terrans were more sci-fi, but some of the books that take place before re-contact verge on fantasy or sword-and-sorcery. I guess they could be considered planetary romances like ERB's Mars and Venus books.