After the Permian extinction, dinosaurs dominated Earth’s ecosystems for over 180 million years. Mammals remained small and nocturnal but gradually diversified. Continental drift continued as Pangaea broke apart, forming the modern continents and oceans- wikipedia 
Age of Dinosaurs and Mammals: 252–66 Million Years Ago
HTML5 mp4 https://david.hitchhikers.earth/assets/history-of-the-earth/History%20of%20the%20Earth%20%5BQ1OreyX0-fw%5D.mp4#t=10:39 Age of Dinosaurs and Mammals: 252–66 Million Years Ago
The impact event 66 million years ago ended the age of dinosaurs and allowed mammals to radiate into many ecological niches. Primates emerged soon afterward.