Mammals did not become the dominant form of large terrestrial animals until:

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The demise of the dinosaurs (approximately 66 million years ago) opened up new ecological niches for mammals, leading to their rise as dominant large terrestrial animals. This allowed them to diversify and occupy a variety of habitats previously dominated by dinosaurs. Behavioral thermoregulation and the development of mammary glands are important adaptations in mammals, but they did not directly lead to their dominance. The evolution of primates is a more recent event in mammalian history and is not directly related to their dominance as large terrestrial animals.

Mammals Did Not Become the Dominant Form of Large Terrestrial