Not to Mario Odyssey actually, at least not in a realistic manner as seen here. And I say that as a big proponent of putting dino's in things.
In fact, I kind of hate seeing that realistic T-Rex inhabiting a world that also has cartoonish looking plumbers and Goomba's and such, or, when looking back at the larger Mario universe, where have also been fictionalized dinosaurs like Yoshi and the enemies in SMW. I might be one of the few left on Gaf still turned somewhat off of Odyssey because of all those realistic looking things in the game like the cars, humans and now dino's...I guess I like my Mario games to have a consistent cartoony art style where Mario looks like he fits with the rest of the game world.
That said, I'm all for having more dinosaurs in games in general and am still waiting for a new Dino Crisis or Turok.