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I wouldn't get animal control involved, a cowering dog doesn't necessarily mean abuse. Sounds like you were able to have a civilized discussion with your neighbor, if you get authorities involved on a mere hunch, I doubt that will continue. I would personally get a picture of the damaged fence, have a camera ready in case the dog does get back into your yard and log your discussion with neighbor. If you do have to take care of another serious incident in the future, I would think(speculation on my part) it would help with the messy aftermath.