Battle in the Dawn: The Complete Hok the Mighty by Manly Wade Wellman
Historical adventure fiction is one of the primary roots of swords & sorcery. From it you get the same fast-paced adventure in exotic settings.
Some writers of S&S, Robert E. Howard and Sprague de Camp for example, wrote historical adventure fiction alongside their more fantastic stories. Often the tales involve battling Crusaders and Saracens, high seas Viking adventures, swashbuckling freebooters, or Roman centurions fighting Teutonic hordes. Sometimes, though, they star cavemen.
Manly Wade Wellman spent his childhood in a primitive village in Portuguese West Africa. Till he died Wellman spoke of a young boy forced to kill a leopard in order to protect cattle. Other boys had been less lucky and had fallen prey to leopards. His time and experience in Angola was perhaps the greatest influence on his life, but most certainly on his prehistoric stories.
In 1939, after a decade of writing pulp science fiction with titles like “The Disc-Men of Jupiter” and “Outlaws on Callisto,” Manly Wade Wellman introduced his Cro-Magnon hero, Hok the Mighty, in the novelette “Battle in the Dawn.” Four stories followed before he retired the character. While there’s a strong anthropological component to the Hok stories, with footnotes explaining then-current thoughts on the discoveries made by early man, these five tales get progressively more fantastic.
In 2010 Paizo collected all the Hok stories, along with several fragments and the cavenmen vs. Martians mini-epic “The Day of the Conquerors,” in Battle in the Dawn: The Complete Hok the Mighty for their Planet Stories line.