Lords of Atlantis
by Wallace West
"In the dim past, men had fled to Mars for refuge, but now the red planet was a dying world, and the Martians returned to colonize Earth and rule over the Titans - descendants of those who had stayed behind at the time of the now-legendary catastrophe. But the rulers of the Titans, retained by the conquerors on their ancestral thrones, grew restless under the benevolent progress of the Lords of Atlantis, looked back to a so-called "golden age," and plotted rebellion. Here is a thrilling novel of what might have been the basis of the the Great Legends that have come down to us: of the "gods," of Atlantis, of Zeus, Hermes, Hephaestus, Hera, Athena, Aphrodite, Jason, Medea - and of a mighty empire which was weighed in the balance and found wanting!"
Airmont Books - 1963
http://www.pywrit.com/ebooks/sfw/WallaceWest/bi/lordsofatlantis.htm