Yes it has been said, but still this show was entertaining in its day. I mean we've all heard the story of the "good guys" teaming up with the humans against the "bad guys", but as a kid I still wish I was one of those chosen to assist in the war. Sure it was comical in ways and unoriginal, but it was a winning marketing strategy.
In this shows defense, transformers later did Beast Wars where they themselves became animals on another planet. So maybe that was just an homage to Dinosaucers, but at least they can say that Beast Wars wasn't completely original.