From what I know many vets contact human dentists(with some form of further training I presume) for anything more than the simplest dental procedures on animals. Here is one story, and this is a video of dental work on a tiger.
However, for the board-certified specialty of veterinary dentistry you need a DVM first.
U of Louisville actually has a program where you can work on animals at their local zoo. Nothing major if I remember right...but still awesome nonetheless.