This is one of Giovanni Domenico's extensive group of drawings of centaurs, satyrs and their families, which were described by James Byam Shaw as 'the most delightful and original of all Giandomenico's allegorical and mythological subjects.'1
Although Tiepolo approached the theme of centaurs and satyrs in the frescoes for the family villa of Zianigo, James Byam Shaw believed that the group of drawings were executed as works of art in their own right, rather than being preparatory for that specific project, and dated that series to the years between 1761 and 1791.2
Jean Cailleux, however, thought they were slightly earlier, beginning around 1755, noting that the group may have included as many as one hundred drawings.3
1. J. Byam Shaw, The Drawings of Domenico Tiepolo, London 1962, pp. 41-2
3. Cailleux, op.cit.