Grimtool shows some but not all. Like Primal Spirit, you can find its all skills in Grimtool. But if a pet skill is a separate skill, like Briarthorn’s Ground Slam and Hellhound’s 2 skills, you cannot find it in grimtool. Data miner helps and I list them below.
Regular pets
Raven
Lightning Strike - 2.3s
Hellhound
Ember Claw - 2s
Infernal Breath - 3s (very long/slow animation)
Briarthorn
Ground Slam - 3s (very long/slow animation)
Blight Beast
Blight Brust - 3.8s
Skeletal Archer
Death Bolt - 5s
Skeletal Mage
Fireball Nova - 3.8s
Skeletal Knight
Undeath Missiles - 2.3s (only aiming mediun or long range targets, not using on melee range enemies)
Note: these cooldowns are longer before v1.2.1
Player scaling pets
Mortar Trap
The big one - 3s for fitst use and 7s for subsequent attacks
Wind Devil
Maelstorm - this is complicated. In essence, it is a buff skill to Wind Devils theirselves, and the effect of the buff is to attack enemies periodically by lightnings. The buff has a duration for 8s and cooldown for 10s, and the internal of lightning bolts is 2s when buff is on. Therefore, 4 lightning bolts every 10 seconds.
If I miss anything, remind me.
If you want to know animation times (which skill is long and slow, which skill is short and quick), there are too many pets and skills, and I can’t list them one by one. You can list the pets you are interest in and I can check their data.