Lois June Wickstrom & Jean Lorrah 
The Rooster Under the Table [EPUB ebook] 

Once upon a time, in a land of magic, there lived a princess who did NOT want to marry. She wanted to have adventures like the knights, or rule a kingdom like her father. She didn’t like sitting around in pretty dresses, eating daintily with fancy silverware, and speaking in a soft, ladylike voice. And those were the only things a queen, ever got to do. So she put on her overalls and sat under the table where she chatted with a rooster, who gave her new ideas about how to think about herself and her future.

This is not your classic folktale princess.