I would not get put off by the shape It is all quite basic geometry and simple machining.
The shape of the leg is basically a 'Squashed' baseball bat, scaled down upon its longest axis. This could be achieved with the "follow me tool" It is basically "Lathe" in other programs. Then a bit of it is removed by putting a box or plane against the "leg" and look at 'intersect faces' to remove the box or plane leaving a flat bit on the lathed leg to fit against the flat side of the body. You are subtracting a plane or box from the lathed leg. I have attached an image of basically how you could do a leg. It is not in proportion though.Dog leg.jpg
Hope this is some help