I'm adding my own answer based on the Parashara Smriti.Looking for more answers from other users with valid Scriptural quotes.
Chapter 10 of Parashara Smriti is titled Agamyaagamanaprayaschittavarnanam or "The description of expiations for prohibited sexual intercourses".
This chapter deals with bestiality too.Slokas 12 &13 are useful here.
- On carnal intercourse with a beast, or a prostitute and the like, or with a female buffalo, or with a female camel, or with a she
monkey, or with a sow, or a female ass, one should perform the
Prajapatya penance.
- On carnal intercourse with a cow, the sin is removed by three nights' fast; a cow should be presented to a Brahman as fee. On carnal
connection with a female buffalo, a female camel or an ass, the sin is
removed by one night's fast.
Similarly, the Manu Smriti(Chapter 11 verse 173), states:
11.173. A man who has committed a bestial crime, or an unnatural crime with a female, or has had intercourse in water, or with a menstruating
woman, shall perform a Samtapana Krikkhra.
So,as per Hindu Shastras, bestiality is a sin and the expiations are also precisely mentioned therein.