What kind of sacrifice does God desire?
I will praise the name of God with a song; I will magnify him with thanksgiving.
This will please the Lord more than an ox or a bull with horns and hoofs.
Spurgeon comments on Psalm 69:30-31
Here he puts dishonour upon mere outward offerings by speaking of the horns and hoofs, the offal [Waste parts, especially of a butchered animal] of the victim. The opus operatum, which our ritualists think so much of, the Lord puffs at. The horning and hoofing are nothing to him, though to Jewish ritualists these were great points, and matters for critical examination; our modern rabbis are just as precise as to the mingling of water with their wine, the baking of their wafers, the cut of their vestments, and the performance of genuflections towards the right quarter of the compass.
O fools, and slow of heart to perceive all that the Lord has declared. “Offer unto God thanksgiving” is the everlasting rubric of the true directory of worship. The depths of grief into which the suppliant had been plunged gave him all the richer an experience of divine power and grace in his salvation, and so qualified him to sing more sweetly “the song of loves.” Such music is ever most acceptable to the infinite Jehovah.
Knowing God through His Word ... Day by Day 
Make a joyful shout to the Lord, all you lands!
2 Serve the Lord with gladness;
Come before His presence with singing.
3 Know that the Lord, He is God;
It is He who has made us, and not we ourselves;
We are His people and the sheep of His pasture.
4 Enter into His gates with thanksgiving,
And into His courts with praise.
Be thankful to Him, and bless His name.
5 For the Lord is good;
His mercy is everlasting,
And His truth endures to all generations.
Psalms 100