Tyrannosaurus rex was an Earth dinosaur that lived in the Cretaceous period.
Doctor Noonian Soong was very fond of dinosaurs and kept a Tyrannosaurus skull and some small models of the dinosaur in his laboratory on Terlina III. (TNG: "Brothers")
After Jonathan Archer restored a damaged timeline, a Tyrannosaurus rex could be seen in the timestream as the timeline realigned itself. (ENT: "Storm Front, Part II")