The things we regret most are things we have not done. Call. Call right away. Now that you know something is wrong, don't ignore it. You got put in a bad situation by the ignorance of your neighbors. Yes, you might have trouble with them. But, if you don't call, you'll have trouble with your soul.

Once the animal control people make a report, if you have trouble, you can contact the police. Most police take a dim view of abuse in all forms. The animal control report will help in that case, showing you were not calling just to be intrusive.

I'm sorry you have to make this decision. What happens to the dogs may not be known, but at least there will be hope. Right now, they are just waiting to die.