Spindle's End (Folktales #3) by Robin McKinley

All the creatures of the forest and field and riverbank knew the infant was special. She was the princess, spirited away from the evil fairy Pernicia on her name-day. But the curse was cast: Rosie was fated to prick her finger on the spindle of a spinning wheel and fall into a poisoned sleep--a slumber from which no one would be able to rouse her...

In the tradition of Beauty and Rose Daughter, Robin McKinley "lends a fresh perspective to a classic fairy tale, developing the story of 'Sleeping Beauty' into a richly imagined, vividly depicted novel." (School Library Journal