I know animal senses are generally heightened compared to ours but it seems like either they are less sensitive or just have an extremely high tolerance for pain. This question came to me while watching AP, these chimps were going at it and one ended up with this ragged gash probably about the length of a playing card on its arm. The wound went deep and created a pocket in the muscle. Now if this happened to a person they'd be screaming to high heaven or struggle not to pass out, but this chimp was putting its fingers in it and poking it and tasting it and showing all his friends.
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Yes, animals are usually much less sensitive than humans to touch, especially wild animals. The natural world is a pretty cruel place, and a higher tolerance to pain and touch enables wild animals to survive.
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Humans can't feel anything, they're numb from the brain down.