Well-phrased action story. It is the kind of action as in for example the 2011 Thor movie. Like in movies of that kind, the flow of the action should keep you from examining the unbelievable premises. And the reader is left with a big plot hole.
You can find it out for yourself and read the entire story at the Internet Archive, Planet Stories July 1951: pages 56-65.
Or click to view this spoiler: The planet is restored to its previous place, Kelly is back to his home town, but the earthlings are still at the mercy of the priests. ◁