Benji, Zax & the Alien Prince (1983)

Far distant from Earth on a red planet of Antars, a tyrant Zanu has killed their king and imprisoned the queen. The crown prince, their son, named Yubi (Christopher Burton) has escaped to Earth in a company of the droid Zax (voiced by Ric Spiegel), where they have become friends with a stray dog named Benji.