You can date back the genealogies of Christ all the way back to adam. I'm pretty sure all the dates are available.
When I was young, my parents owned a biblical atlas, with the lineage from adam all the way to Christ. that was something like 2000 years (from now till Christ) plus some 4k years up until adam for a total of some 6 or 6.5k years.
The dinos would have been made during day 5 I believe, so that would mean that dinos and men co-existed. There was a lot of exponential procreation of all species early on due to a more rich gene pool, allowing for inbreeding (that's the theory), so dinos and humans could easily inbreed and create more humans and dinos respectively.
Then, in terms of the bible, dsgrue already gave you job's recounting of God's description of his mighty beasts.
Is it surprising to you that dinos and humans co-existed? If so, that's understandable. But the co-existence is in line with the obviously glorified accounts of human-dragon encounters, which are likely human-dino encounters.