Missing episode 1x14 Ice Age Adventure/Dino-Riders in the Ice Age - 1990 (VHS release)

The series focuses on the battle between the good Valorians and the evil Rulons on prehistoric Earth. The Valorians were a superhuman race, while the Rulons were a mixture of humanoid creatures. Both races came from the future but were transported back in time to the age of dinosaurs. Once on Earth, the Valorians befriended dinosaurs, while the Rulons brainwashed them.

The Valorians were a peaceful race that lived on Valoria until they were attacked by the Rulons. The Valorians attempted to escape from the Rulons' assault using their "Space Time Energy Projector" (S.T.E.P.); however, something went wrong. They were sent back in time, 65 million years to the age of the dinosaurs. Unknown to them, the Rulons in the spaceship Dreadlock were also sent back through time when the S.T.E.P. was activated.

After successfully landing on prehistoric Earth, the Valorians, led by Questar, used their AMP ("Amplified Mental Projector" necklaces to telepathically communicate with the dinosaurs they encountered and eventually befriended them. On the other hand, the Rulons, led by their leader Emperor Krulos, used brainwashing devices known as brain-boxes to control dinosaurs for their own needs. The Rulons then launched an attack on the Valorians, who called upon their dinosaur friends to assist them in fighting back. After successfully defeating the Rulons, the Valorians declared themselves to be the Dino-Riders.

In regard to the dinosaur (and other animal) species present, the series is extremely anachronistic, showing late Cretaceous species like Tyrannosaurus rex alongside species from earlier eras, including the Permian genus Dimetrodon, which lived 200 million years earlier, before dinosaurs existed.

https://www.imdb.com/title/tt0094449/