Drop litter with domestic servant (5)
I believe the answer is:
whelp
'drop litter' is the definition.
(to whelp is to give birth to a litter)
'with domestic servant' is the wordplay.
'with' becomes 'w' (abbreviation).
'domestic servant' becomes 'help' ('the help' can mean servants).
'w'+'help'='WHELP'
(Other definitions for whelp that I've seen before include "Cur" , "Puppy, cub" , "Young pup" , "Give birth to (a puppy)" , "Produce issue" .)