It begins in 2017 and Tarzan is fighting apes. Then, to 1901 when we go to Africa. Instead of the events in ESCAPE FROM THE PLANET OF THE APES, Zira and Cornelius had gone through time to end up in Africa. It's there they encountered "regular" apes of Kerchak's tribe and also adopted a human boy, Tarzan. They also have their own son, Milo, and the two boys are best friends. On one of their adventures they encounter a small herd of triceratops and when they tell their parents they immediately think it has to do with a similar time wormhole that they had gone through. And that maybe their going through time has messed things up. In truth, the Mahars from the Earth's Core have gateways that allow them to travel to Africa and it's because of them the dinos have appeared. There are also some hunters, led by Tarzan's cousin, who are hunting and capturing apes. They come across one that speaks in English and they are shocked.
The next time we see Tarzan he's been living in England for a few years and longs to go back. His cousin wants him to return to Africa to help stop the violence that's happening there, that involves the ape slave trade. In those intervening years Milo has continued to fight the humans who have invaded the jungle and now calls himself Caesar, which Zira does not approve of. Tarzan and his brother re-unite just as everyone is attacked by veloceraptors.
In 1907 Zira's ape compound is attacked by the pterodactyl-like Mahars while Tarzan and Caesar battle carnivorous dinosaurs. Tarzan's cousin is killed by one of them, which is no great loss. But ZIra perishes when the village is set afire. Together, they have to stop the Mahar invasion. David Innes appears with a band of cavemen and we learn he's been fighting them as well. When another intelligent/human shaped ape arrives he's not surprised to see it's Dr. Milo. This Dr. Milo is from an alternative time-line and he's been trying to stop the destruction of Earth that happens two-thousand years in the future. They all take care of the threat from the center of the Earth but when they return through the teleportation portal they find themselves two thousand years in the future, the future as depicted in the first PLANET OF THE APES film. However, in this reality Taylor has been killed and dissected, so it's up to Tarzan to stop Zaius from sending gorilla troops into the Forbidden Zone to confront the mutants.
This is a very cool mash-up of Tarzan and the original PLANET OF THE APES. In this alternate time-line there is no Jane but there's so much else going on I don't know how they'd be able to fit it in. Maybe a second series? Highly recommended.