whimpered

verb
  1. 1

    To cry or sob softly and intermittently.

    โ€œThe lonely puppy began to whimper as soon as we left the room.โ€

  2. 2

    To cry with a low, whining, broken voice; to whine; to complain.

  3. 3

    To say something in a whimpering manner.

    โ€œ"Master, please don't punish me!" he whimpered.โ€

Source: https://en.wiktionary.org/wiki/whimper, https://en.wiktionary.org/wiki/whimpered