We're Back! A Dinosaur's Story (1993) on Netflix

Captain New Eyes travels back in time in what is presumably the Late Cretaceous Period. He feeds the four dinosaurs with the names Rex, Elsa, Dweeb, and Woog his Brain Grain cereal, which makes them intelligent, nonviolent and gentle. They travel via space-ship to the twenty-first century where they befriends with a street-smart boy and a poor little rich girl, tough-talking but secretly soft-hearted Louie and a neglected cutie named Cecilia, from the opposite sides of the tracks, get rooked into performing in a demented circus run by the scientist's evil brother Professor Screw Eyes, and learns something about friendship. He has other plans for those dinosaurs. In addition, his demeanor of tapping into people's nightmares and a hypnotic stare render him a menace to be feared.