Eryops
Eryops was a genus of animals native to Earth that lived in the Devonian period, over 400 million years ago. These animals measured more than two meters long.
The Eryops was believed to be the last common ancestor of cold-blooded and warm-blooded organisms. It was the common ancestor of Humans and the Voth. (VOY: "Distant Origin")
The Eryops that appeared in "Distant Origin" more closely resembles the Gorgonops, a type of synapsid, which were the ancestors of mammals, not dinosaurs. Also, Eryops lived in the Permian period, not the Devonian, i.e., some 100 million years later.
The Eryops was a sculpture made by Jordu Schell. ("Red Alert: Amazing Visual Effects", VOY Season 3 DVD special feature)