Benji, Zax and the Alien Prince (1983)

When Ubi, prince of the distant planet Antaz, escapes capture by its evil leader Zanu, he and his droid Zax head for sanctuary on the planet Earth. When their spaceship lands, they are met by Benji, the lovable stray dog, who becomes their friend, guide, and protector. The series follows Benji's adventures as he struggles to protect Prince Ubi and Zax from their alien pursuers, Darah and Khyber.