I find that breaking drawings down to simple shapes (ie.circles,triangles and squares.) makes them easier to draw.
1 oval for the head, 1 circle for the top of the body, 2 small circles for the arm (1 for the elbow 1 for the wrist), 1 triangle for the hand. Then just join up. You now just add in details like the face. (remember to repeat the arm so you have 2)
Like with people you pick out the basic shapes. I can't really specify because all animals are different. Check out my pic of a horse grazing, it shows how to use the circles if you click on it.
Hope I helped make drawing more simple!