Iago. Do bad sidekicks count? If not... uhm... hmm. Do Timon & Pumbaa count? If not again... uh... erk. Eh, I don't want to say Abu, but I might have to. Him or Sebastian. Or Raja. ...probably Raja, now that I think more on it.

Wait! Wait wait wait! Kuzko is kind of Pacha's animal sidekick... right?

EDIT: Oh man, I forgot about Launchpad, too. I know, I know, he probably doesn't count either, like all of my first thoughts.

EDITRA: Okay, if I exclude Launchpad, Timon & Pumbaa on account of all of the main characters also being animals, then I exclude Iago because we're focusing on good guys, then I exclude Kuzko on account of him being the star and also not really a llama, then I'm left with Abu, Sebastian and Raja. My final choice is: Ray.